Vestibular and optokinetic eye movements evoked in the cat by rotation about a tilted axis

The otolith vermis: A systems neuroscience theory of the Nodulus and Uvula

The Nodulus and Uvula (NU) (lobules X and IX of the cerebellar vermis) form a prominent center of vestibular information processing. Over decades, fundamental and clinical research on the NU has uncovered many aspects of its function. Those include the resolution of a sensory ambiguity inherent to inertial sensors in the inner ear, the otolith organs; the use of gravity signals to sense head rotations; and the differential processing of self-generated and externally imposed head motion. Here, I review these works in the context of a theoretical framework of information processing called the internal model hypothesis. I propose that the NU implements a forward internal model to predict the activation of the otoliths, and outputs sensory predictions errors to correct internal estimates of self-motion or to drive learning. I show that a Kalman filter based on this framework accounts for various functions of the NU, neurophysiological findings, as well as the clinical consequences of NU lesions. This highlights the role of the NU in processing information from the otoliths and supports its denomination as the "otolith" vermis.

Patterns of spontaneous and head-shaking nystagmus in cerebellar infarction: imaging correlations

Horizontal head-shaking may induce nystagmus in peripheral as well as central vestibular lesions. While the patterns and mechanism of head-shaking nystagmus are well established in peripheral vestibulopathy, they require further exploration in central vestibular disorders. To define the characteristics and mechanism of head-shaking nystagmus in central vestibulopathies, we investigated spontaneous nystagmus and head-shaking nystagmus in 72 patients with isolated cerebellar infarction. Spontaneous nystagmus was observed in 28 (39%) patients, and was mostly ipsilesional when observed in unilateral infarction (15/18, 83%). Head-shaking nystagmus developed in 37 (51%) patients, and the horizontal component of head-shaking nystagmus was uniformly ipsilesional when induced in patients with unilateral infarction. Perverted head-shaking nystagmus occurred in 23 (23/37, 62%) patients and was mostly downbeat (22/23, 96%). Lesion subtraction analyses revealed that damage to the uvula, nodulus and inferior tonsil was mostly responsible for generation of head-shaking nystagmus in patients with unilateral posterior inferior cerebellar artery infarction. Ipsilesional head-shaking nystagmus in patients with unilateral cerebellar infarction may be explained by unilateral disruption of uvulonodular inhibition over the velocity storage. Perverted (downbeat) head-shaking nystagmus may be ascribed to impaired control over the spatial orientation of the angular vestibulo-ocular reflex due to uvulonodular lesions or a build-up of vertical vestibular asymmetry favouring upward bias due to lesions involving the inferior tonsil.

Spinning versus wobbling: how the brain solves a geometry problem

Oscillating an animal out-of-phase simultaneously about the roll and pitch axes ("wobble") changes continuously the orientation of the head relative to gravity. For example, it may gradually change from nose-up, to ear-down, nose-down, ear-down, and back to nose-up. Rotations about the longitudinal axis ("spin") can change the orientation of the head relative to gravity in the same way, provided the axis is tilted from vertical. During both maneuvers, the otolith organs in the inner ear detect the change in head orientation relative to gravity, whereas the semicircular canals will only detect oscillations in velocity (wobble), but not any rotation at constant velocity (spin). Geometrically, the whole motion can be computed based on information about head orientation relative to gravity and the wobble velocity. We subjected monkeys (Macaca mulatta) to combinations of spin and wobble and found that the animals were always able to correctly estimate their spin velocity. Simulations of these results with an optimal Bayesian model of vestibular information processing suggest that the brain integrates gravity and velocity information based on a geometrically coherent three-dimensional representation of head-in-space motion.

Head position modulates optokinetic nystagmus

Orientation and movement relies on both visual and vestibular information mapped in separate coordinate systems. Here, we examine how coordinate systems interact to guide eye movements of rabbits. We exposed rabbits to continuous horizontal optokinetic stimulation (HOKS) at 5°/s to evoke horizontal eye movements, while they were statically or dynamically roll-tilted about the longitudinal axis. During monocular or binocular HOKS, when the rabbit was roll-tilted 30° onto the side of the eye stimulated in the posterior → anterior (P → A) direction, slow phase eye velocity (SPEV) increased by 3.5-5°/s. When the rabbit was roll-tilted 30° onto the side of the eye stimulated in the A → P direction, SPEV decreased to ~2.5°/s. We also tested the effect of roll-tilt after prolonged optokinetic stimulation had induced a negative optokinetic afternystagmus (OKAN II). In this condition, the SPEV occurred in the dark, "open loop." Modulation of SPEV of OKAN II depended on the direction of the nystagmus and was consistent with that observed during "closed loop" HOKS. Dynamic roll-tilt influenced SPEV evoked by HOKS in a similar way. The amplitude and the phase of SPEV depended on the frequency of vestibular oscillation and on HOKS velocity. We conclude that the change in the linear acceleration of the gravity vector with respect to the head during roll-tilt modulates the gain of SPEV depending on its direction. This modulation improves gaze stability at different image retinal slip velocities caused by head roll-tilt during centric or eccentric head movement.

The functional significance of velocity storage and its dependence on gravity

Research in the vestibular field has revealed the existence of a central process, called 'velocity storage', that is activated by both visual and vestibular rotation cues and is modified by gravity, but whose functional relevance during natural motion has often been questioned. In this review, we explore spatial orientation in the context of a Bayesian model of vestibular information processing. In this framework, deficiencies/ambiguities in the peripheral vestibular sensors are compensated for by central processing to more accurately estimate rotation velocity, orientation relative to gravity, and inertial motion. First, an inverse model of semicircular canal dynamics is used to reconstruct rotation velocity by integrating canal signals over time. However, its low-frequency bandwidth is limited to avoid accumulation of noise in the integrator. A second internal model uses this reconstructed rotation velocity to compute an internal estimate of tilt and inertial acceleration. The bandwidth of this second internal model is also restricted at low frequencies to avoid noise accumulation and drift of the tilt/translation estimator over time. As a result, low-frequency translation can be erroneously misinterpreted as tilt. The time constants of these two integrators (internal models) can be conceptualized as two Bayesian priors of zero rotation velocity and zero linear acceleration, respectively. The model replicates empirical observations like 'velocity storage' and 'frequency segregation' and explains spatial orientation (e.g., 'somatogravic') illusions. Importantly, the functional significance of this network, including velocity storage, is found during short-lasting, natural head movements, rather than at low frequencies with which it has been traditionally studied.

Velocity storage contribution to vestibular self-motion perception in healthy human subjects

Self-motion perception after a sudden stop from a sustained rotation in darkness lasts approximately as long as reflexive eye movements. We hypothesized that, after an angular velocity step, self-motion perception and reflexive eye movements are driven by the same vestibular pathways. In 16 healthy subjects (25-71 years of age), perceived rotational velocity (PRV) and the vestibulo-ocular reflex (rVOR) after sudden decelerations (90°/s(2)) from constant-velocity (90°/s) earth-vertical axis rotations were simultaneously measured (PRV reported by hand-lever turning; rVOR recorded by search coils). Subjects were upright (yaw) or 90° left-ear-down (pitch). After both yaw and pitch decelerations, PRV rose rapidly and showed a plateau before decaying. In contrast, slow-phase eye velocity (SPV) decayed immediately after the initial increase. SPV and PRV were fitted with the sum of two exponentials: one time constant accounting for the semicircular canal (SCC) dynamics and one time constant accounting for a central process, known as velocity storage mechanism (VSM). Parameters were constrained by requiring equal SCC time constant and VSM time constant for SPV and PRV. The gains weighting the two exponential functions were free to change. SPV were accurately fitted (variance-accounted-for: 0.85 ± 0.10) and PRV (variance-accounted-for: 0.86 ± 0.07), showing that SPV and PRV curve differences can be explained by a greater relative weight of VSM in PRV compared with SPV (twofold for yaw, threefold for pitch). These results support our hypothesis that self-motion perception after angular velocity steps is be driven by the same central vestibular processes as reflexive eye movements and that no additional mechanisms are required to explain the perceptual dynamics.

Processing of angular motion and gravity information through an internal model

The vestibular organs in the base of the skull provide important information about head orientation and motion in space. Previous studies have suggested that both angular velocity information from the semicircular canals and information about head orientation and translation from the otolith organs are centrally processed in an internal model of head motion, using the principles of optimal estimation. This concept has been successfully applied to model behavioral responses to classical vestibular motion paradigms. This study measured the dynamic of the vestibuloocular reflex during postrotatory tilt, tilt during the optokinetic afternystagmus, and off-vertical axis rotation. The influence of otolith signal on the VOR was systematically varied by using a series of tilt angles. We found that the time constants of responses varied almost identically as a function of gravity in these paradigms. We show that Bayesian modeling could predict the experimental results in an accurate and consistent manner. In contrast to other approaches, the Bayesian model also provides a plausible explanation of why these vestibulooculo motor responses occur as a consequence of an internal process of optimal motion estimation.

Internal models and neural computation in the vestibular system

The vestibular system is vital for motor control and spatial self-motion perception. Afferents from the otolith organs and the semicircular canals converge with optokinetic, somatosensory and motor-related signals in the vestibular nuclei, which are reciprocally interconnected with the vestibulocerebellar cortex and deep cerebellar nuclei. Here, we review the properties of the many cell types in the vestibular nuclei, as well as some fundamental computations implemented within this brainstem-cerebellar circuitry. These include the sensorimotor transformations for reflex generation, the neural computations for inertial motion estimation, the distinction between active and passive head movements, as well as the integration of vestibular and proprioceptive information for body motion estimation. A common theme in the solution to such computational problems is the concept of internal models and their neural implementation. Recent studies have shed new insights into important organizational principles that closely resemble those proposed for other sensorimotor systems, where their neural basis has often been more difficult to identify. As such, the vestibular system provides an excellent model to explore common neural processing strategies relevant both for reflexive and for goal-directed, voluntary movement as well as perception.

Nystagmus as a sign of labyrinthine disorders--three-dimensional analysis of nystagmus

In order to diagnose the pathological condition of vertiginous patients, a detailed observation of nystagmus in addition to examination of body equilibrium and other neurotological tests are essential. How to precisely record the eye movements is one of the goals of the researchers and clinicians who are interested in the analysis of eye movements for a long time. For considering that, one has to think about the optimal method for recording eye movements. In this review, the author introduced a new method, that is, an analysis of vestibular induced eye movements in three-dimensions and discussed the advantages and limitations of this method.

Efficacy of tilt-suppression in postrotatory nystagmus in cats

The phenomenon of tilting the head away from an upright position immediately after a horizontal head-rotation, thus reducing the duration of postrotatory nystagmus (PRN), has more than once been called "tilt-suppression." It represents an example of the semicircular canal-otolith interaction in the central vestibular system. In the present study we investigated how head roll-tilt influences the time constants of PRN in the horizontal and vertical planes in cats. The head/body was roll-tilted by 30 degrees toward the upright or the side down from initial roll positions immediately after termination of earth-vertical axis (EVA) rotation. Changes in head orientation either towards or away from the EVA reduced horizontal PRN. The reducing effect was small when the head was roll-tilted toward the EVA. Vertical nystagmus decreased only when the head orientation moved toward alignment with the EVA. Otolithic "tilt-suppression" may be a central neuronal mechanism that is activated to minimize the tumbling sensation of turning about a tilted axis and postural instability, but our results indicate that tilt-suppression of PRN depends on a change in head orientation with respect to the EVA.

An internal model of head kinematics predicts the influence of head orientation on reflexive eye movements

Our sense of self-motion and self-orientation results from combining information from different sources. We hypothesize that the central nervous system (CNS) uses internal models of the laws of physics to merge cues provided by different sensory systems. Different models that include internal models have been proposed; we focus herein on that referred to as the sensory weighting model. For simplicity, we isolate the portion of the sensory weighting model that estimates head angular velocity: it includes an inverse internal model of head kinematics and an 'idiotropic' vector aligned with the main body axis. Following a post-rotatory tilt in the dark, which is a rapid tilt following a constant-velocity rotation about an earth-vertical axis, the inverse internal model is applied to conflicting vestibular signals. Consequently, the CNS computes an inaccurate estimate of head angular velocity that shifts toward alignment with an estimate of gravity. Since reflexive eye movements known as vestibulo-ocular reflexes (VOR) compensate for this estimate of head angular velocity, the model predicts that the VOR rotation axis shifts toward alignment with this estimate of gravity and that the VOR time constant depends on final head orientation. These predictions are consistent with experimental data.

Spatial orientation of optokinetic nystagmus and ocular pursuit during orbital space flight

On Earth, eye velocity of horizontal optokinetic nystagmus (OKN) orients to gravito-inertial acceleration (GIA), the sum of linear accelerations acting on the head and body. We determined whether adaptation to micro-gravity altered this orientation and whether ocular pursuit exhibited similar properties. Eye movements of four astronauts were recorded with three-dimensional video-oculography. Optokinetic stimuli were stripes moving horizontally, vertically, and obliquely at 30 degrees/s. Ocular pursuit was produced by a spot moving horizontally or vertically at 20 degrees/s. Subjects were either stationary or were centrifuged during OKN with 1 or 0.5 g of interaural or dorsoventral centripetal linear acceleration. Average eye position during OKN (the beating field) moved into the quick-phase direction by 10 degrees during lateral and upward field movement in all conditions. The beating field did not shift up during downward OKN on Earth, but there was a strong upward movement of the beating field (9 degrees) during downward OKN in the absence of gravity; this likely represents an adaptation to the lack of a vertical 1-g bias in-flight. The horizontal OKN velocity axis tilted 9 degrees in the roll plane toward the GIA during interaural centrifugation, both on Earth and in space. During oblique OKN, the velocity vector tilted towards the GIA in the roll plane when there was a disparity between the direction of stripe motion and the GIA, but not when the two were aligned. In contrast, dorsoventral acceleration tilted the horizontal OKN velocity vector 6 degrees in pitch away from the GIA. Roll tilts of the horizontal OKN velocity vector toward the GIA during interaural centrifugation are consistent with the orientation properties of velocity storage, but pitch tilts away from the GIA when centrifuged while supine are not. We speculate that visual suppression during OKN may have caused the velocity vector to tilt away from the GIA during dorsoventral centrifugation. Vertical OKN and ocular pursuit did not exhibit orientation toward the GIA in any condition. Static full-body roll tilts and centrifugation generating an equivalent interaural acceleration produced the same tilts in the horizontal OKN velocity before and after flight. Thus, the magnitude of tilt in OKN velocity was dependent on the magnitude of interaural linear acceleration, rather than the tilt of the GIA with regard to the head. These results favor a 'filter' model of spatial orientation in which orienting eye movements are proportional to the magnitude of low frequency interaural linear acceleration, rather than models that postulate an internal representation of gravity as the basis for spatial orientation.

Canal-otolith interactions after off-vertical axis rotations. II. Spatiotemporal properties of roll and pitch postrotatory vestibuloocular reflexes

We have examined the spatiotemporal characteristics of postrotatory eye velocity after roll and pitch off-vertical axis rotations (OVAR). Three rhesus monkeys were placed in one of 3 orientations on a 3-dimensional (3D) turntable: upright (90 degrees roll or pitch OVAR), 45 degrees nose-up (45 degrees roll OVAR), and 45 degrees left ear-down (45 degrees pitch OVAR). Subjects were then rotated at +/-60 degrees /s around the naso-occipital or interaural axis and stopped after 10 turns, in one of 7 final head orientations, each separated by 30 degrees . We found that postrotatory eye velocity showed horizontal-vertical components after roll OVAR and horizontal-torsional components after pitch OVAR that varied systematically as a function of final head orientation. The quantitative analysis suggests that, in contrast to the analogous yaw OVAR paradigm, a system of up to 3 real, gravity-dependent eigenvectors and eigenvalues determines the spatiotemporal characteristics of the residual eye velocities after roll and pitch OVAR. One of these eigenvectors closely aligned with gravity, whereas the other 2 determined the orientation of the earth horizontal plane. We propose that the spatial characteristics of eye velocity after roll and pitch OVAR follow the physical constraints of stationary orientation in a gravitational field and reflect the brain's best estimate of head-in-space orientation within an internal representation of 3D space.

An Integrative Neural Network for Detecting Inertial Motion and Head Orientation

The ability to navigate in the world and execute appropriate behavioral responses depends critically on the contribution of the vestibular system to the detection of motion and spatial orientation. A complicating factor is that otolith afferents equivalently encode inertial and gravitational accelerations. Recent studies have demonstrated that the brain can resolve this sensory ambiguity by combining signals from both the otoliths and semicircular canal sensors, although it remains unknown how the brain integrates these sensory contributions to perform the nonlinear vector computations required to accurately detect head movement in space. Here, we illustrate how a physiologically relevant, nonlinear integrative neural network could be used to perform the required computations for inertial motion detection along the interaural head axis. The proposed model not only can simulate recent behavioral observations, including a translational vestibuloocular reflex driven by the semicircular canals, but also accounts for several previously unexplained characteristics of central neural responses such as complex otolith–canal convergence patterns and the prevalence of dynamically processed otolith signals. A key model prediction, implied by the required computations for tilt–translation discrimination, is a coordinate transformation of canal signals from a head-fixed to a spatial reference frame. As a result, cell responses may reflect canal signal contributions that cannot be easily detected or distinguished from otolith signals. New experimental protocols are proposed to characterize these cells and identify their contributions to spatial motion estimation. The proposed theoretical framework makes an essential first link between the computations for inertial acceleration detection derived from the physical laws of motion and the neural response properties predicted in a physiologically realistic network implementation.

Effects of roll tilt on the direction of vertical postrotatory nystagmus in cats

The rotation axis of horizontal postrotatory nystagmus (PRN) changes as the head is tilted, so that it becomes directed toward gravity (spatial reorientation). Here, we examined the vertical PRN orientation during roll tilt in cats. Unlike the case in horizontal PRN, in vertical PRN no significant cross-coupled components emerged to reorient the eyes toward gravity. Our results indicate that otolith input contributes differently to horizontal VOR than to vertical VOR.

Effect of side-down tilt on optokinetic nystagmus and optokinetic after-nystagmus in cats

Slow phase velocity (SPV) of optokinetic nystagmus (OKN) and after-nystagmus (OKAN) was examined in the cat in side-down tilts. In the upright position, the axis of SPV (direction of SPV vector) during OKN was always close to the stimulus axis. In side-down positions, yaw stimulation induced OKN with the vector deviating from the stimulus axis toward the pitch-axis, so as to make the SPV rotational plane be shifted toward the earth horizontal plane, while pitch-axis stimulation induced no change in vector direction. This yaw-to-pitch cross-coupling is qualitatively similar to that previously described in primates. SPV vector size during yaw stimulation is greatest when the stimulus axis is oriented vertically, and the vector size is smaller when the stimulus is in the gravity direction than when it is in the anti-gravity direction. The SPV vector for the rapid-rise response showed no clear change with head orientation, indicating that the direct optokinetic pathway has no contribution to the induction of cross-coupling. Cross-coupling was found also during OKAN. The SPV trajectories were fitted well using the velocity storage integrator model. SPV vector change of cat OKN/OKAN in head tilt could be fitted by changing gain elements in the model.

The effects of pitch tilt on postrotatory nystagmus in cats

When the head is tilted away from the upright position immediately after termination of earth-vertical axis (EVA) head rotation at a constant velocity, the rotation axis of postrotatory nystagmus (PRN) is gradually directed toward gravity (spatial reorientation). During roll tilt, the extent of the axis shift varies among species. In cats, the reorientation is limited to about 30-45 degrees of head tilt. In the present study, we examined features of PRN during pitch tilt in cats. The animals were rotated about EVA at a constant velocity of 100 degrees /s for 120 s. Within 2 s after stopping EVA rotation, the animals were tilted toward the pitch plane by as much as +/-90 degrees (nose-down or nose-up) in steps of 15 degrees. Eye movements were measured with 3D magnetic search coils. The angle of the PRN plane and its slow phase eye velocity (SPV) were measured. The duration of PRN decreased as pitch tilt increased regardless of whether the direction was nose-up or nose-down. The mean time constant of SPV was significantly longer for nose-up than for nose-down. PRN maintained its horizontal orientation without any vertical drift during pitch tilt, but there was little reorientation toward gravity. That is, no significant torsional component of SPV emerged to reorient the eyes according to gravity. Our results indicate that spatial reorientation depends on head orientation. For the PRN responses after pitch tilts in cats, the interactions of semicircular canal and otolith inputs in the central vestibular system might be vestigial.

Dynamic modulation of ocular orientation during visually guided saccades and smooth-pursuit eye movements

Rotational disturbances of the head about an off-vertical yaw axis induce a complex vestibuloocular reflex pattern that reflects the brain's estimate of head angular velocity as well as its estimate of instantaneous head orientation (at a reduced scale) in space coordinates. We show that semicircular canal and otolith inputs modulate torsional and, to a certain extent, also vertical ocular orientation of visually guided saccades and smooth-pursuit eye movements in a similar manner as during off-vertical axis rotations in complete darkness. It is suggested that this graviceptive control of eye orientation facilitates rapid visual spatial orientation during motion.

Resolution of sensory ambiguities for gaze stabilization requires a second neural integrator

The ability to simultaneously move in the world and maintain stable visual perception depends critically on the contribution of vestibulo-ocular reflexes (VORs) to gaze stabilization. It is traditionally believed that semicircular canal signals drive compensatory responses to rotational head disturbances (rotational VOR), whereas otolith signals compensate for translational movements [translational VOR (TVOR)]. However, a sensory ambiguity exists because otolith afferents are activated similarly during head translations and reorientations relative to gravity (i.e., tilts). Extra-otolith cues are, therefore, necessary to ensure that dynamic head tilts do not elicit a TVOR. To investigate how extra-otolith signals contribute, we characterized the temporal and viewing distance-dependent properties of a TVOR elicited in the absence of a lateral acceleration stimulus to the otoliths during combined translational/rotational motion. We show that, in addition to otolith signals, angular head position signals derived by integrating sensory canal information drive the TVOR. A physiological basis for these results is proposed in a model with two distinct integration steps. Upstream of the well known oculomotor velocity-to-position neural integrator, the model incorporates a separate integration element that could represent the "velocity storage integrator," whose functional role in the oculomotor system has so far remained controversial. We propose that a key functional purpose of the velocity storage network is to temporally integrate semicircular canal signals, so that they may be used to extract translation information from ambiguous otolith afferent signals in the natural and functionally relevant bandwidth of head movements.

3D eye movement analysis during sinusoidal off vertical axis rotation in human subjects

OBJECTIVE

It has been reported that the eye movements induced by off vertical axis rotation (OVAR) are composed of two components: a bias component (BIC) and a modulation component (MOC). It was suggested that the MOC compensates for changes in head orientation with respect to gravity and that the BIC is related to the velocity storage mechanism. However, the characteristics of the otolith organs remain obscure. In order to investigate these characteristics, we performed a 3D analysis of eye movements induced by human sinusoidal s-OVAR, and compared the result with that of eye movements induced by constant c-OVAR.

MATERIAL AND METHODS

Fifteen healthy human subjects participated in this study. OVAR stimulation was produced by rotation following tilt. After a 30 degrees tilt, the subject was rotated sinusoidally at 0.05 and 0.02 Hz at 50 degrees/s peak velocity. Eye movements were recorded using an infrared charge-coupled device camera, and the updated version of our standard computerized image recognition method was used to analyze them three-dimensionally.

RESULTS

The eye movements induced by s-OVAR consisted of two kinds of sine waves: low- and high-frequency components. The low-frequency component was related to the change in angular acceleration, and the eye movements were found to derive from the semicircular canals. In contrast, the high-frequency component was related to the change in head position, and the eye movements were found to derive from the otolith organs.

CONCLUSION

s-OVAR may prove to be a useful tool for simultaneously assessing the functions of both the otolith organs and the semicircular canals.

Eye movements during multi-axis whole-body rotations

The semi-circular canals and the otolith organs both contribute to gaze stabilization during head movement. We investigated how these sensory signals interact when they provide conflicting information about head orientation in space. Human subjects were reoriented 90 degrees in pitch or roll during long-duration, constant-velocity rotation about the earth-vertical axis while we measured three-dimensional eye movements. After the reorientation, the otoliths correctly indicated the static orientation of the subject with respect to gravity, while the semicircular canals provided a strong signal of rotation. This rotation signal from the canals could only be consistent with a static orientation with respect to gravity if the rotation-axis indicated by the canals was exactly parallel to gravity. This was not true, so a cue-conflict existed. These conflicting stimuli elicited motion sickness and a complex tumbling sensation. Strong horizontal, vertical, and/or torsional eye movements were also induced, allowing us to study the influence of the conflict between the otoliths and the canals on all three eye-movement components. We found a shortening of the horizontal and vertical time constants of the decay of nystagmus and a trend for an increase in peak velocity following reorientation. The dumping of the velocity storage occurred regardless of whether eye velocity along that axis was compensatory to the head rotation or not. We found a trend for the axis of eye velocity to reorient to make the head-velocity signal from the canals consistent with the head-orientation signal from the otoliths, but this reorientation was small and only observed when subjects were tilted to upright. Previous models of canal-otolith interaction could not fully account for our data, particularly the decreased time constant of the decay of nystagmus. We present a model with a mechanism that reduces the velocity-storage component in the presence of a strong cue-conflict. Our study, supported by other experiments, also indicates that static otolith signals exhibit considerably smaller effects on eye movements in humans than in monkeys.

Compensatory and orienting eye movements induced by off-vertical axis rotation (OVAR) in monkeys

Nystagmus induced by off-vertical axis rotation (OVAR) about a head yaw axis is composed of a yaw bias velocity and modulations in eye position and velocity as the head changes orientation relative to gravity. The bias velocity is dependent on the tilt of the rotational axis relative to gravity and angular head velocity. For axis tilts <15 degrees, bias velocities increased monotonically with increases in the magnitude of the projected gravity vector onto the horizontal plane of the head. For tilts of 15-90 degrees, bias velocity was independent of tilt angle, increasing linearly as a function of head velocity with gains of 0.7-0.8, up to the saturation level of velocity storage. Asymmetries in OVAR bias velocity and asymmetries in the dominant time constant of the angular vestibuloocular reflex (aVOR) covaried and both were reduced by administration of baclofen, a GABA(B) agonist. Modulations in pitch and roll eye positions were in phase with nose-down and side-down head positions, respectively. Changes in roll eye position were produced mainly by slow movements, whereas vertical eye position changes were characterized by slow eye movements and saccades. Oscillations in vertical and roll eye velocities led their respective position changes by approximately 90 degrees, close to an ideal differentiation, suggesting that these modulations were due to activation of the orienting component of the linear vestibuloocular reflex (lVOR). The beating field of the horizontal nystagmus shifted the eyes 6.3 degrees /g toward gravity in side down position, similar to the deviations observed during static roll tilt (7.0 degrees /g). This demonstrates that the eyes also orient to gravity in yaw. Phases of horizontal eye velocity clustered ~180 degrees relative to the modulation in beating field and were not simply differentiations of changes in eye position. Contributions of orientating and compensatory components of the lVOR to the modulation of eye position and velocity were modeled using three components: a novel direct otolith-oculomotor orientation, orientation-based velocity modulation, and changes in velocity storage time constants with head position re gravity. Time constants were obtained from optokinetic after-nystagmus, a direct representation of velocity storage. When the orienting lVOR was combined with models of the compensatory lVOR and velocity estimator from sequential otolith activation to generate the bias component, the model accurately predicted eye position and velocity in three dimensions. These data support the postulates that OVAR generates compensatory eye velocity through activation of velocity storage and that oscillatory components arise predominantly through lVOR orientation mechanisms.

Orientation of the eyes to gravitoinertial acceleration

Orientation of the eyes to gravitoinertial acceleration, i.e., to the sum of gravity and the linear accelerations acting on the head and body, is a basic property of the linear vestibulo-ocular reflex to support vision. Present in a wide range of species from the lateral-eyed rabbit to frontal-eyed monkeys and humans, the eyes deviate in pitch, roll and yaw in response to pitch, roll and yaw head movements. The eyes also converge in response to naso-occipital linear acceleration. This paper provides examples of ocular orientation generated by static tilt and off-vertical axis rotation in three dimensions and demonstrates specifically how vergence would support vision in the rabbit.

Three-dimensional analysis of eye movements during off vertical axis rotation in patients with unilateral labyrinthine loss

3D analysis of eye movements during off vertical axis rotation (OVAR) was carried out in seven subjects with unilateral labyrinthine loss (ULL). The modulation component (MOC) of these patients was not different from that of normal subjects. However, the horizontal MOC was significantly smaller when the rotation was directed towards the diseased side as opposed to the healthy side. With rotation to the diseased side, most subjects exhibited a horizontal bias component (BIC) to the opposite side as compared with the diseased side in normal subjects. The vertical and torsional BICs were also influenced to some extent by lack of input from the unilateral labyrinth. These results indicate that a unilateral otolith organ plays a major role in the production of the horizontal BIC contralateral to the direction of rotation, which is strongly related to the velocity storage mechanism in the central nervous system. In addition, the unilateral otolith organ exerts some influence on the generation of the horizontal MOC and also the BIC of vertical and torsional eye movements.

Canal-otolith interactions after off-vertical axis rotations I. Spatial reorientation of horizontal vestibuloocular reflex

We examined the three-dimensional (3-D) spatial orientation of postrotatory eye velocity after horizontal off-vertical axis rotations by varying the final body orientation with respect to gravity. Three rhesus monkeys were oriented in one of two positions before the onset of rotation: pitched 24 degrees nose-up or 90 degrees nose-up (supine) relative to the earth-horizontal plane and rotated at +/-60 degrees /s around the body-longitudinal axis. After 10 turns, the animals were stopped in 1 of 12 final positions separated by 30 degrees. An empirical analysis of the postrotatory responses showed that the resultant response plane remained space-invariant, i.e., accurately represented the actual head tilt plane at rotation stop. The alignment of the response vector with the spatial vertical was less complete. A complementary analysis, based on a 3-D model that implemented the spatial transformation and dynamic interaction of otolith and lateral semicircular canal signals, confirmed the empirical description of the spatial response. In addition, it allowed an estimation of the low-pass filter time constants in central otolith and semicircular canal pathways as well as the weighting ratio between direct and inertially transformed canal signals in the output. Our results support the hypothesis that the central vestibular system represents head velocity in gravity-centered coordinates by sensory integration of otolith and semicircular canal signals.

Inertial processing of vestibulo-ocular signals

New evidence for a central resolution of gravito-inertial signals has been recently obtained by analyzing the properties of the vestibulo-ocular reflex (VOR) in response to combined lateral translations and roll tilts of the head. It is found that the VOR generates robust compensatory horizontal eye movements independent of whether or not the interaural translatory acceleration component is canceled out by a gravitational acceleration component due to simultaneous roll-tilt. This response property of the VOR depends on functional semicircular canals, suggesting that the brain uses both otolith and semicircular canal signals to estimate head motion relative to inertial space. Vestibular information about dynamic head attitude relative to gravity is the basis for computing head (and body) angular velocity relative to inertial space. Available evidence suggests that the inertial vestibular system controls both head attitude and velocity with respect to a gravity-centered reference frame. The basic computational principles underlying the inertial processing of otolith and semicircular canal afferent signals are outlined.

Control of spatial orientation of the angular vestibulo-ocular reflex by the nodulus and uvula of the vestibulocerebellum

Eye velocity produced by the angular vestibulo-ocular reflex (aVOR) tends to align with the summed vector of gravity and other linear accelerations [gravito-inertial acceleration (GIA)]. Defined as "spatial orientation of the aVOR," we propose that it is controlled by the nodulus and uvula of the vestibulocerebellum. Here, electrical stimulation, injections of the GABAA agonist, muscimol, and single-cell recordings were utilized to investigate this spatial orientation. Stimulation, injection, and recording sites in the nodulus were determined in vivo by MRI and verified in histological sections. MRI proved to be a sensitive, reliable way to localize electrode placements. Electrical stimulation at sites in the nodulus and sublobule d of the uvula produced nystagmus whose slow-phase eye-velocity vectors were either head centric or spatially invariant. When head centric, the eye velocity vector remained within +/- 45 degrees of the vector obtained with the animal upright, regardless of head position with respect to gravity. When spatially oriented, the vector remained relatively constant in space in one on-side position, with respect to the vector determined with the animal upright. A majority of induced movements from the nodulus were spatially oriented. Spatially oriented movements were generally followed by after-nystagmus, which had the characteristics of optokinetic after-nystagmus (OKAN), including orientation to the GIA. After muscimol injections, horizontal-to-vertical cross-coupling was lost or reduced during OKAN in tilted positions. This supports the hypothesis that the nodulus mediates yaw-to-vertical or roll cross-coupling. The injections also shortened the yaw-axis time constant and produced contralateral horizontal spontaneous nystagmus, whose velocity varied as a function of head position with regard to gravity. Nodulus units were tested with static head tilt, sinusoidal oscillation around a spatial horizontal axis with the head in different orientations relative to the pitching plane, and off-vertical axis rotation (OVAR). The direction of the response vectors of the otolith-recipient units in the nodulus, determined from static and/or dynamic head tilts, were confirmed by OVAR. These vector directions lay close to the planes of the vertical canals in 7/10 units; many units also had convergent input from the vertical canals. It is postulated that the orientation properties of the aVOR result from a transfer of otolith input regarding head tilt along canal planes to canal-related zones of the nodulus. In turn, Purkinje cells in these zones project to vestibular nuclei neurons to control eye velocity around axes normal to these same canal planes.

Optokinetic and vestibular stimulation determines the spatial orientation of negative optokinetic afternystagmus in the rabbit

Prolonged binocular optokinetic stimulation (OKS) in the rabbit induces a high-velocity negative optokinetic afternystagmus (OKAN II) that persists for several hours. We have taken advantage of this uniform nystagmus to study how changes in static head orientation in the pitch plane might influence the orientation of the nystagmus. After horizontal OKS, the rotation axis of the OKAN II remained almost constant in space as it was kept aligned with the gravity vector when the head was pitched by as much as 80 degrees up and 35 degrees down. Moreover, during reorientation, slow-phase eye velocity decreased according to the head pitch angle. Thereafter, we analyzed the space orientation of OKAN II after optokinetic stimulation during which the head and/or the OKS were pitched upward and downward. The rotation axis of OKAN II did not remain aligned with an earth vertical axis nor a head vertical axis, but it tended to be aligned with that of the OKS respace. The slow-phase eye velocity of OKAN II was also affected by the head pitch angle during OKS, because maximal OKAN II velocity occurred at the same head pitch angle as that during optokinetic stimulation. We suggest that OKAN II is coded in gravity-centered rather than in head-centered coordinates, but that this coordinate system may be influenced by optokinetic and vestibular stimulation. Moreover, the velocity attenuation of OKAN II seems to depend on the mismatch between the space-centered nystagmus rotation axis orientation and that of the "remembered" head-centered optokinetic pathway activated by OKS.

Control of spatial orientation of the angular vestibuloocular reflex by the nodulus and uvula

Spatial orientation of the angular vestibuloocular reflex (aVOR) was studied in rhesus monkeys after complete and partial ablation of the nodulus and ventral uvula. Horizontal, vertical, and torsional components of slow phases of nystagmus were analyzed to determine the axes of eye rotation, the time constants (Tcs) of velocity storage, and its orientation vectors. The gravito-inertial acceleration vector (GIA) was tilted relative to the head during optokinetic afternystagmus (OKAN), centrifugation, and reorientation of the head during postrotatory nystagmus. When the GIA was tilted relative to the head in normal animals, horizontal Tcs decreased, vertical and/or roll time constants (Tc(vert/roll)) lengthened according to the orientation of the GIA, and vertical and/or roll eye velocity components appeared (cross-coupling). This shifted the axis of eye rotation toward alignment with the tilted GIA. Horizontal and vertical/roll Tcs varied inversely, with T(chor) being longest and T(cvert/roll) shortest when monkeys were upright, and the reverse when stimuli were around the vertical or roll axes. Vertical or roll Tcs were longest when the axes of eye rotation were aligned with the spatial vertical, respectively. After complete nodulo-uvulectomy, T(chor) became longer, and periodic alternating nystagmus (PAN) developed in darkness. T(chor) could not be shortened in any of paradigms tested. In addition, yaw-to-vertical/roll cross-coupling was lost, and the axes of eye rotation remained fixed during nystagmus, regardless of the tilt of the GIA with respect to the head. After central portions of the nodulus and uvula were ablated, leaving lateral portions of the nodulus intact, yaw-to-vertical/roll cross-coupling and control of Tc(vert/roll) was lost or greatly reduced. However, control of Tchor was maintained, and T(chor) continued to vary as a function of the tilted GIA. Despite this, the eye velocity vector remained aligned with the head during yaw axis stimulation after partial nodulo-uvulectomy, regardless of GIA orientation to the head. The data were related to a three-dimensional model of the aVOR, which simulated the experimental results. The model provides a basis for understanding how the nodulus and uvula control processing within the vestibular nuclei responsible for spatial orientation of the aVOR. We conclude that the three-dimensional dynamics of the velocity storage system are determined in the nodulus and ventral uvula. We propose that the horizontal and vertical/roll Tcs are separately controlled in the nodulus and uvula with the dynamic characteristics of vertical/roll components modulated in central portions and the horizontal components laterally, presumably in a semicircular canal-based coordinate frame.

Otolith-semicircular canal interaction during postrotatory nystagmus in humans

The otolith-semicircular canal interaction during postrotatory nystagmus was studied in ten normal human subjects by applying fast, short-lasting, passive head and body tilts (15, 30, 45, or 90 degrees in the roll or pitch plane) 2 s after sudden stop from a constant-velocity rotation (100 degrees/s) about the earth-vertical axis in yaw. Eye movements were measured with three-dimensional magnetic search coils. Following the head tilt, activity in the semicircular canal primary afferents continues to reflect the postrotatory angular velocity vector in head-centered coordinates, whereas otolith primary afferents signal a different orientation of the head relative to gravity. Despite the change in head orientation relative to gravity, postrotatory eye velocity decayed closely along the axis of semicircular canal stimulation (horizontal in head coordinates) for large head tilts (90 degrees) and also for small head tilts (15-45 degrees) for reorientations in the pitch plane. Only for small head tilts (15-45 degrees) in the roll plane was there a reorientation of the eye rotation axis toward the gravitational vector. This reorientation was approximately compensatory for 15 degrees head tilts. For 30 degrees and 45 degrees head tilts the eye rotation axis tilted toward the gravitational vector by about the same amount as for 15 degrees head tilts. These results suggest that, with the exception of small head tilts in the roll plane, there was no compelling data showing a relationship between the eye rotation axis and head tilt and that postrotatory nystagmus is largely organized in head-centered rather than gravity-centered coordinates in humans. This indicates a rudimentary, nonlinear, and direction-specific interaction of semicircular canal and otolith signals in the central vestibular system in humans.

Vestibulo-ocular reflex of the squirrel monkey during eccentric rotation with centripetal acceleration along the naso-occipital axis

The vestibulo-ocular reflexes (VOR) are determined not only by angular acceleration, but also by the presence of gravity and linear acceleration. This phenomenon was studied by measuring three-dimensional nystagmic eye movements, with implanted search coils, in four male squirrel monkeys. Monkeys were rotated in the dark at 200 degrees/s, centrally or 79 cm off-axis, with the axis of rotation always aligned with gravity and the spinal axis of the upright monkeys. The monkey's position relative to the centripetal acceleration (facing center or back to center) had a dramatic influence on the VOR. These studies show that a torsional response was always elicited that acted to shift the axis of eye rotation toward alignment with gravito-inertial force. On the other hand, a slow phase downward vertical response usually existed, which shifted the axis of eye rotation away from the gravito-inertial force. These findings were consistent across all monkeys. In another set of tests, the same monkeys were rapidly tilted about their interaural (pitch) axis. Tilt orientations of 45 degrees and 90 degrees were maintained for 1 min. Other than a compensatory angular VOR during the rotation, no consistent eye velocity response was ever observed during or following the tilt. The absence of any response following tilt proves that the observed torsional and vertical responses were not a positional nystagmus. Model simulations qualitatively predict all components of these eccentric rotation and tilt responses. These simulations support the conclusion that the VOR during eccentric rotation may consist of two components: a linear VOR and a rotational VOR. The model predicts a slow phase downward, vertical, linear VOR during eccentric rotation even though there was never a change in the force aligned with monkey's spinal (Z) axis. The model also predicts the torsional components of the response that shift the rotation axis of the angular VOR toward alignment with gravito-inertial force.

Properties of otolith-related vestibular nuclear neurons in response to bidirectional off-vertical axis rotation of the rat

In decerebrate rats, the responses of tilt-sensitive neurons in the lateral and descending vestibular nuclei were studied during constant velocity 10 degrees off-vertical axis rotations (OVAR) in the clockwise (VW) and counterclockwise (CCW) directions. Seventy three otolith-related units showed a sinusoidal position-dependent discharge modulation to OVAR of both directions; 20 of these showed clipped firing rates in parts of a 360 degree OVAR cycle. With increase in the velocity of rotation (1.75-15 degrees/s), one group of units (n = 36) showed a stable ratio of bidirectional response sensitivity and symmetric response magnitudes to CW and CCW rotations. These units showed gain tuning ratios similar to those of narrowly spatiotemporal-tuned neurons. The other group of OVAR responsive units (n = 13) exhibited velocity-variable and asymmetric bidirectional response sensitivities. Their gain tuning ratios were similar to those of broadly spatiotemporal-tuned neurons. For units with velocity-stable and symmetric bidirectional response sensitivity as well as gain tuning ratio of the narrowly spatiotemporal-tuned neurons, their response gains remained stable with velocity. Some showed stable response phase lead or lag with velocity increase while others showed progressive shifts from response lead of 13 degrees to response lag of -25 degrees. The best response orientations of these units with velocity-stable and symmetric bidirectional response sensitivity were found to point in all directions on the place of rotation. The functional significance of these tilt- and OVAR-sensitive central otolith neurons is discussed.

Influence of gravity on the orientation of vestibular induced quick phases

In rabbits and cats the orientation of the quick phases (QPs) of the vestibulo-ocular reflex (VOR) was studied varying the head position in space. At different head tilt positions, QPs induced by step vestibular stimulation disaligned with respect to the stimulus toward the orientation of the earth's horizontal axis. The rabbits' QPs were horizontal during yaw stimulation and remained horizontal in a range of head pitch of +/- 90 degrees (reorientation gain = 1). Therefore, the slow compensatory responses (CSPs) progressively disaligned compared with the QPs. QPs induced by roll stimulation also showed horizontal orientation, although these were rare in the upright position and occurred more frequently when the head was pitched. In cats only the yaw-induced QPs were coplanar with the stimulus, while QPs induced by pitching were mostly oblique. It followed that in either yawing or pitching, the QPs had their end point scattered within a horizontally elongated area of the visual field. When tilting cats in the frontal plane, the orientation of QP trajectories changed with respect to the stimulus so that the end point distribution tended to remain aligned toward the horizontal instead of being fixed in the orbit. The reorientation gain decreased from 1 to 0.5 by increasing the head tilt. On the basis of difference regarding eye implantation and motility it was suggested that the effect of gravity on the orientation of QPs could be aimed at maintaining the interocular axis aligned with the horizon in the rabbit and at orientating the visual scanning system in the horizontal plane in the cat.

The cerebellum as a predictor of neural messages--II. Role in motor control and motion sickness

The hypothesis of a "stable estimator" was proposed in the preceding article as a circuit computing an internal estimate of a body movement variable and endowed with regulating properties. Such a circuit would exist for each variable, and would be embedded in a particular folium of the cerebellar cortex and the related paths of the brainstem nuclei and the inferior olive. In this article, the action of the premotor orders on the stable estimator circuit is studied, at initiation and during execution of voluntary movements. A feedback loop via the cerebellar cortex would control on-going movements and maintain the efficacy of the stabilizing sensorimotor reaction, while preventing its interfering with the movement. The regulating loop via the inferior olive would have a short-term role in initiating movements and would boost insufficient stabilizing reactions. The discrepancy between internal estimates of the same variable would be reflected in motion sickness.

The effect of gravity on the resting position of the cat's eye

We measured rotation (horizontal, vertical and torisonal) and translation (horizontal and vertical) of the paralysed cat's eye in response to 45 degrees steps of orientation presented in a pseudorandom order around the roll and pitch axes (with respect to the horizontal canals). During changes of position of the animal in the roll plane, the eyes rotated towards the lowest part of the orbit (left with left ear down; top when the cat was upside down, etc.) by an average of 0.55 degree. Changing orientation in the pitch plane evoked vertical rotations of +/- 1.42 degrees (upwards eye movement during forwards head pitch) and torsional rotations of +/- 1.3 degrees. All these rotations taken together suggest that the centre of mass is in front of, below and temporal to the centre of rotation. The eyes translated temporally (thus separating by 0.72 mm) during forward pitching and there was a small vertical displacement (0.23 mm) when the animal was upside down. These findings are discussed with respect to a possible role of the extraocular proprioception system.

The representation of the spatial vertical in human optokinetic nystagmus

With our stimulus conditions we were unable to record more than 2-3 beats of OKAN; therefore direct comparison to the data recorded from monkeys is not possible. We did, however, see cross-coupling in OKN. In monkeys, cross-coupling predominates in OKAN, indicating that velocity storage underlies this phenomenon. We consistently saw the axis of response shift towards the spatial vertical. This implies that although OKAN was weak, velocity storage contributed a representation of the spatial vertical to OKN that is dependent on the axis of the head or body with respect to gravity.

Spatial orientation of the vestibular system

1. A simplified three-dimensional state space model of visual vestibular interaction was formulated. Matrix and dynamical system operators representing coupling from the semicircular canals and the visual system to the velocity storage integrator were incorporated into the model. 2. It was postulated that the system matrix for a tilted position was a composition of two linear transformations of the system matrix for the upright position. One transformation modifies the eigenvalues of the system matrix while another rotates the pitch and roll eigenvectors with the head, while maintaining the yaw axis eigenvector approximately spatially invariant. Using this representation, the response characteristics of the pitch, roll, and yaw eye velocity were obtained in terms of the eigenvalues and associated eigenvectors. 3. Using OKAN data obtained from monkeys and comparing to the model predictions, the eigenvalues and eigenvectors of the system matrix were identified as a function of tilt to the side or of tilt to the prone positions, using a modification of the Marquardt algorithm. The yaw eigenvector for right-side-down tilt and for downward pitch cross-coupling was approximately 30 degrees from the spatial vertical. For the prone position, the eigenvector was computed to be approximately 20 degrees relative to the spatial vertical. For both side-down and prone positions, oblique OKN induced along eigenvector directions generated OKAN which decayed to zero along a straight line with approximately a single time constant. This was verified by a spectral analysis of the residual sequence about the straight line fit to the decaying data. The residual sequence was associated with a narrow autocorrelation function and a wide power spectrum. 4. Parameters found using the Marquardt algorithm were incorporated into the model. Diagonal matrices in a head coordinate frame were introduced to represent the direct pathway and the coupling of the visual system to the integrator. Model simulations predicted the behavior of yaw and pitch OKN and OKAN when the animal was upright, as well as the cross-coupling in the tilted position. The trajectories in velocity space were also accurately simulated. 5. There were similarities between the monkey eigenvectors and human perception of the spatial vertical. For side-down tilts and downward eye velocity cross-coupling, there was only an Aubert (A) effect. For upward eye velocity cross-coupling there were both Müller (E) and Aubert (A) effects. The mean of the eigenvectors for upward and downward eye velocities overlay human 1 x g perceptual data.(ABSTRACT TRUNCATED AT 400 WORDS)

The horizontal vestibulo-ocular reflex during linear acceleration in the frontal plane of the cat

Horizontal and vertical eye movements were recorded in alert, restrained cats that were subjected to whole-body rotations with the horizontal semicircular canals in the plane of rotation and the body centered on the axis or 45 cm eccentric from the axis of rotation. Changes in the horizontal vestibulo-ocular reflex (HVOR) due to the resultant of the linear forces (i.e., gravity and linear acceleration) acting on the otolith organs were examined during off-axis rotation when there was a centripetal acceleration along the animal's interaural axis. The HVOR time constant was slightly shortened when the resultant otolith force was not parallel to the animal's vertical axis. This effect was independent of the direction of the otolith force relative to the direction of the slow phase eye velocity. No effect on the HVOR amplitude was observed. In addition to changes in the HVOR dynamics, a significant vertical component of eye velocity was observed during stimulation of the horizontal canals when the resultant otolith force was not parallel with the animal's vertical axis. The effect was greater for larger angles between the resultant otolith force and gravity. An upward or downward component was elicited, depending on the direction of the horizontal component of eye velocity and the direction of the resultant otolith force. The vertical component was always in the direction that would tend to align the eye velocity vector with the resultant otolith force and keep the eye movement in a plane that had been rotated by the angle between the resultant otolith force and gravity.

Effects of static tilt about the roll axis on horizontal and vertical optokinetic nystagmus and optokinetic after-nystagmus in humans

Horizontal and vertical OKN and OKAN were recorded in four conditions using the EOG technique. Instructions to subjects were aimed at obtaining a "look" type OKN. Two optokinetic stimulators, a stationary sphere and a binocular portable model, were compared with the subject in the upright condition. Three posture orientations, upright, 90 degree roll (horizontal), and upside-down, were then compared using the portable stimulator to determine the effect of roll-axis tilt on OKN at three velocities and on OKAN. Vertical OKN asymmetry was found to increase in the 90 degree roll position and to tend toward a reversal in the upside-down position. The time constant of vertical OKAN with slow phase up increased in both the 90 degree roll and upside-down positions. And finally, cross-coupled vertical eye movements during and after horizontal OKN were clearly observed. These results confirm the data obtained in monkeys, and are in accordance with the hypothesis of a three-dimensional organization of the velocity storage mechanism.

Contribution of the maculo-ocular reflex to gaze stability in the rabbit

The contribution of the maculo-ocular reflex to gaze stability was studied in 10 pigmented rabbits by rolling the animals at various angles of sagittal inclination of the rotation and/or longitudinal animal axes. At low frequencies (0.005-0.01 Hz) of sinusoidal stimulation the vestibulo-ocular reflex (VOR) was due to macular activation, while at intermediate and high frequencies it was mainly due to ampullar activation. The following results were obtained: 1) maculo-ocular reflex gain decreased as a function of the cosine of the angle between the rotation axis and the earth's horizontal plane. No change in gain was observed when longitudinal animal axis alone was inclined. 2) At 0 degrees of rotation axis and with the animal's longitudinal axis inclination also set at 0 degrees, the maculo-ocular reflex was oriented about 20 degrees forward and upward with respect to the earth's vertical axis. This orientation remained constant with sagittal inclinations of the rotation and/or longitudinal animal axes ranging from approximately 5 degrees upward to 30 degrees downward. When the longitudinal animal axis was inclined beyond these limits, the eye trajectory tended to follow the axis inclination. In the upside down position, the maculo-ocular reflex was anticompensatory, oblique and fixed with respect to orbital coordinates. 3) Ampullo-ocular reflex gain did not change with inclinations of the rotation and/or longitudinal animal axes. The ocular responses were consistently oriented to the stimulus plane. At intermediate frequencies the eye movement trajectory was elliptic because of directional differences between the ampullo- and maculo-ocular reflexes.(ABSTRACT TRUNCATED AT 250 WORDS)

Spatial orientation of VOR to combined vestibular stimuli in squirrel monkeys

The interaction of angular and linear stimuli produces a complex alignment of spatial orientation and the VOR. This phenomenon was studied by measuring three dimensional eye movements in 6 squirrel monkeys during centrifugation in the dark. The axis of eye rotation was always aligned with gravity and with the spinal axis of the upright monkeys. The erect monkeys were oriented such that they were either facing toward the direction of motion or were facing away from the motion. Angular velocity trapezoids were utilized as the motion stimuli with a ramp acceleration of 10 degrees/s2 to a constant velocity of 200 degrees/s. This yields a final centripetal acceleration of 1 g. The orientation of centripetal acceleration dramatically altered the VOR by changing the axis of eye rotation, the peak value of slow phase eye velocity, and the time constant of per-rotary decay. The axis of eye rotation always tended to align with gravito-inertial force, the peak value of slow phase eye velocity was greater when the monkey faced the motion than when it faced away from the motion, and the time constant of decay was smaller when the monkey faced the motion than when it faced away from the motion. These findings were statistically significant (p less than 0.05) and were consistent across all monkeys. The data also indicate that the VOR may be separated into two reflexes, a linear reflex and a rotational reflex. The linear reflex decays as the axis of eye rotation aligns with gravito-inertial force (GIF). These results indicate that GIF is resolved into two components: one representing an internal estimate of linear acceleration and one representing an internal estimate of gravity.

Cross-coupling between horizontal and vertical eye movements during optokinetic nystagmus and optokinetic afternystagmus elicited in microgravity

The occurrence of horizontal jerks with larger amplitudes than on Earth was observed during vertical optokinetic nystagmus in astronauts tested throughout a 7-day spaceflight. During early exposure to microgravity, a horizontal spontaneous-like nystagmus was recorded in darkness following both vertical and horizontal optokinetic stimulation. In addition, the time constant of vertical OKAN with slow phase up was larger than on the ground. These effects disappeared on flight day 2. Then, the horizontal and vertical OKAN time constants decreased, and gradually returned to the preflight values, as previously observed with the gain of the vestibulo-ocular reflex. The early changes in microgravity are in agreement with those obtained on Earth in monkeys and humans during static tilt relative to gravity. Our findings suggest that the absence of otolithic input in microgravity may have an effect on the optokinetic system which could be mediated by the velocity storage mechanism.

Organizational principles of velocity storage in three dimensions. The effect of gravity on cross-coupling of optokinetic after-nystagmus

1. Optokinetic nystagmus was elicited in alert monkeys by movement of the visual surround in their horizontal or yaw plane, and optokinetic after-nystagmus was recorded in darkness. The animals were upright or were statically tilted at various angles from the upright. While upright, the OKAN was horizontal, and there were no vertical or roll components. When animals were tilted to either side or forward or back, vertical or roll components appeared both in the primary and secondary OKAN. Such components were also observed during nystagmus and after-nystagmus induced by electrical stimulation of the nucleus of the optic tract. The characteristics of the cross-coupled components indicated that they were mediated through the velocity storage mechanism in the vestibulo-ocular reflex. 2. A principle was inferred that explained the appearance of cross-coupled vertical or roll components in the primary and secondary OKAN: With the animal in a tilted position, a vector of eye velocity during OKN along the body-vertical axis was converted during primary OKAN toward a spatial-vertical axis with the same sense by a right hand rule. Thus, slow phase velocity along a vector toward the top of the animal's head during horizontal OKN rotated so that it tended to be directed spatially upward during primary OKAN. The reverse was true for OKN with a velocity vector directed toward the animal's feet. It rotated during primary OKAN so that it tended to be aligned with the direction of gravity. The vector of velocity during secondary OKAN was opposite to the direction of the vector during primary OKAN and was approximately aligned with spatial vertical. 3. OKN and OKAN were elicited about the animal's pitch and roll axes while they were upright and statically tilted at various angles away from the spatial vertical. There was a graded increase in the strength of vertical and roll OKN and OKAN and in the falling time constant of OKAN as the animals were tilted so that the axis of pitch or roll eye movements was moved toward alignment with the spatial vertical. Thus, velocity storage during pure vertical and roll nystagmus was similar to that during yaw OKN and OKAN in tilted positions: it was maximal along the pitch and roll axes when these axes were aligned with gravity. 4. The data indicate that the gravitational field is of fundamental importance in imposing a spatial reference onto the velocity storage integrator.(ABSTRACT TRUNCATED AT 400 WORDS)

Nystagmus induced by off-vertical rotation axis in the cat

1) In the alert cat, nystagmus induced by off-vertical axis rotation (OVAR) was recorded following steps in head velocity or ramps of velocity at constant acceleration below canal threshold. Dependence of nystagmus characteristics on tilt angle of rotation axis and head velocity was studied. Similar results were obtained with both types of stimulation. 2) Mean and modulation amplitude of horizontal eye velocity increased with tilt angle in the range 0-30 degrees. 3) Both variables increased also with head velocity, but with different trends, probably because they are set by different mechanisms. When head rotational velocity was increased above 80 degrees/s, mean eye velocity progressively decreased to zero. 4) In spite of variations from one animal to another, some regularity was observed in the phase of eye velocity modulation. In several cases, a reduction in phase lead of eye velocity with respect to conventional origin of phases (nose-down position) was observed when head velocity increased. 5) Time constant of post-OVAR nystagmus decreased with the tilt angle of the rotation axis from gravity, but not with the orientation of the head with respect to rotation axis. 6) The results could be accounted for by a general equation describing the vestibulo-ocular reflex, provided that estimates of kinematic variables of head movement (head rotational and translational velocities), and visual target distance could be computed by the Central Nervous System.

Eye movements induced by off-vertical axis rotation (OVAR) at small angles of tilt

Off-vertical rotation (OVAR) in darkness induced continuous horizontal nystagmus in humans at small tilts of the rotation axis (5 to 30 degrees). The horizontal slow eye velocity had two components: a mean velocity in the direction opposite to head rotation and a sinusoidal modulation around the mean. Mean velocity generally did not exceed 10 deg/s, and was less than or equal to the maximum velocity of optokinetic after-nystagmus (OKAN). Both the mean and modulation components of horizontal nystagmus increased with tilt angle and rotational velocity. Vertical slow eye velocity was also modulated sinusoidally, generally around zero. The amplitude of the vertical modulation increased with tilt angle, but not with rotational velocity. In addition to modulations in eye velocity, there were also modulations in horizontal and vertical eye positions. These would partially compensate for head position changes in the yaw and pitch planes during each cycle of OVAR. Modulations in vertical eye position were regular, increased with increases in tilt angle and were separated from eye velocity by 90 deg. These results are compatible with the interpretation that, during OVAR, mean slow velocity of horizontal nystagmus is produced by the velocity storage mechanism in the vestibular system. In addition, they indicate that the otolith organs induce compensatory eye position changes with regard to gravity for tilts in the pitch, yaw and probably also the roll planes. Such compensatory changes could be utilized to study the function of the otolith organs. A functional interpretation of these results is that nystagmus attempts to stabilize the image on the retina of one point of the surrounding world. Mean horizontal velocity would then be opposite to the estimate of head rotational velocity provided by the output of the velocity storage mechanism, as charged by an otolithic input during OVAR. In spite of the lack of actual translation, an estimate of head translational velocity could, in this condition, be constructed from the otolithic signal. The modulation in horizontal eye position would then be compensatory for the perceived head translation. Modulation of vertical eye velocity would compensate for actual changes in head orientation with respect to gravity.

The eye movements evoked by a rotating linear acceleration vector in the cat depend on a central velocity storage mechanism

The otoliths are stimulated in a particular pattern by any head movement that is not about an earth-vertical axis and evoke compensatory eye movements in the cat. Such eye movements are not produced if the otolith stimulation is accompanied by vertical canal stimulation. Vertical canal stimulation inactivates the velocity store (a central neural representation of head velocity) as seen by the attenuation of optokinetic after-nystagmus. These observations provide further evidence for the involvement of the central velocity store in the generation of otolith-evoked nystagmus.