Analysis of the fluctuations in the interspike intervals of abducens nucleus neurons during ocular fixation in the alert cat

The Saccade Main Sequence in Patients With Retinitis Pigmentosa and Advanced Age-Related Macular Degeneration

Purpose

Most eye-movement studies in patients with visual field defects have examined the strategies that patients use while exploring a visual scene, but they have not investigated saccade kinematics. In healthy vision, saccade trajectories follow the remarkably stereotyped "main sequence": saccade duration increases linearly with saccade amplitude; peak velocity also increases linearly for small amplitudes, but approaches a saturation limit for large amplitudes. Recent theories propose that these relationships reflect the brain's attempt to optimize vision when planning eye movements. Therefore, in patients with bilateral retinal damage, saccadic behavior might differ to optimize vision under the constraints imposed by the visual field defects.

Methods

We compared saccadic behavior of patients with central vision loss, due to age-related macular degeneration (AMD), and patients with peripheral vision loss, due to retinitis pigmentosa (RP), to that of controls with normal vision (NV) using a horizontal saccade task.

Results

Both patient groups demonstrated deficits in saccade reaction times and target localization behavior, as well as altered saccade kinematics. Saccades were generally slower and the shape of the velocity profiles were often atypical, especially in the patients with RP. In the patients with AMD, the changes were far less dramatic. For both groups, saccade kinematics were affected most when the target was in the subjects' blind field.

Conclusions

We conclude that defects of the central and peripheral retina have distinct effects on the saccade main sequence, and that visual inputs play an important role in planning the kinematics of a saccade.

Fixational drift is driven by diffusive dynamics in central neural circuitry

During fixation and between saccades, our eyes undergo diffusive random motion called fixational drift. The role of fixational drift in visual coding and inference has been debated in the past few decades, but the mechanisms that underlie this motion remained unknown. In particular, it has been unclear whether fixational drift arises from peripheral sources, or from central sources within the brain. Here we show that fixational drift is correlated with neural activity, and identify its origin in central neural circuitry within the oculomotor system, upstream to the ocular motoneurons (OMNs). We analyzed a large data set of OMN recordings in the rhesus monkey, alongside precise measurements of eye position, and found that most of the variance of fixational eye drifts must arise upstream of the OMNs. The diffusive statistics of the motion points to the oculomotor integrator, a memory circuit responsible for holding the eyes still between saccades, as a likely source of the motion. Theoretical modeling, constrained by the parameters of the primate oculomotor system, supports this hypothesis by accounting for the amplitude as well as the statistics of the motion. Thus, we propose that fixational ocular drift provides a direct observation of diffusive dynamics in a neural circuit responsible for storage of continuous parameter memory in persistent neural activity. The identification of a mechanistic origin for fixational drift is likely to advance the understanding of its role in visual processing and inference.

Optimal control of saccades by spatial-temporal activity patterns in the monkey superior colliculus

A major challenge in computational neurobiology is to understand how populations of noisy, broadly-tuned neurons produce accurate goal-directed actions such as saccades. Saccades are high-velocity eye movements that have stereotyped, nonlinear kinematics; their duration increases with amplitude, while peak eye-velocity saturates for large saccades. Recent theories suggest that these characteristics reflect a deliberate strategy that optimizes a speed-accuracy tradeoff in the presence of signal-dependent noise in the neural control signals. Here we argue that the midbrain superior colliculus (SC), a key sensorimotor interface that contains a topographically-organized map of saccade vectors, is in an ideal position to implement such an optimization principle. Most models attribute the nonlinear saccade kinematics to saturation in the brainstem pulse generator downstream from the SC. However, there is little data to support this assumption. We now present new neurophysiological evidence for an alternative scheme, which proposes that these properties reside in the spatial-temporal dynamics of SC activity. As predicted by this scheme, we found a remarkably systematic organization in the burst properties of saccade-related neurons along the rostral-to-caudal (i.e., amplitude-coding) dimension of the SC motor map: peak firing-rates systematically decrease for cells encoding larger saccades, while burst durations and skewness increase, suggesting that this spatial gradient underlies the increase in duration and skewness of the eye velocity profiles with amplitude. We also show that all neurons in the recruited population synchronize their burst profiles, indicating that the burst-timing of each cell is determined by the planned saccade vector in which it participates, rather than by its anatomical location. Together with the observation that saccade-related SC cells indeed show signal-dependent noise, this precisely tuned organization of SC burst activity strongly supports the notion of an optimal motor-control principle embedded in the SC motor map as it fully accounts for the straight trajectories and kinematic nonlinearity of saccades.

Saccadic eye movements minimize the consequences of motor noise

The durations and trajectories of our saccadic eye movements are remarkably stereotyped. We have no voluntary control over these properties but they are determined by the movement amplitude and, to a smaller extent, also by the movement direction and initial eye orientation. Here we show that the stereotyped durations and trajectories are optimal for minimizing the variability in saccade endpoints that is caused by motor noise. The optimal duration can be understood from the nature of the motor noise, which is a combination of signal-dependent noise favoring long durations, and constant noise, which prefers short durations. The different durations of horizontal vs. vertical and of centripetal vs. centrifugal saccades, and the somewhat surprising properties of saccades in oblique directions are also accurately predicted by the principle of minimizing movement variability. The simple and sensible principle of minimizing the consequences of motor noise thus explains the full stereotypy of saccadic eye movements. This suggests that saccades are so stereotyped because that is the best strategy to minimize movement errors for an open-loop motor system.

The sources of variability in saccadic eye movements

Our movements are variable, but the origin of this variability is poorly understood. We examined the sources of variability in human saccadic eye movements. In two experiments, we measured the spatiotemporal variability in saccade trajectories as a function of movement direction and amplitude. One of our new observations is that the variability in movement direction is smaller for purely horizontal and vertical saccades than for saccades in oblique directions. We also found that saccade amplitude, duration, and peak velocity are all correlated with one another. To determine the origin of the observed variability, we estimated the noise in motor commands from the observed spatiotemporal variability, while taking into account the variability resulting from uncertainty in localization of the target. This analysis revealed that uncertainty in target localization is the major source of variability in saccade endpoints, whereas noise in the magnitude of the motor commands explains a slightly smaller fraction. In addition, there is temporal variability such that saccades with a longer than average duration have a smaller than average peak velocity. This noise model has a large generality because it correctly predicts the variability in other data sets, which contain saccades starting from very different initial locations. Because the temporal noise most likely originates in movement planning, and the motor command noise in movement execution, we conclude that uncertainty in sensory signals and noise in movement planning and execution all contribute to the variability in saccade trajectories. These results are important for understanding how the brain controls movement.

Reliability of oculomotor command signals carried by individual neurons

The responses of sensory neurons to repeated presentations of identical stimuli can be highly reproducible. Little is known about the reliability of the motor command signals carried by individual premotor neurons. We measured the variability in the interspike intervals of the high-frequency, saccade-related bursts generated by neurons in the pontine reticular formation. During movements having similar amplitudes and velocity profiles, the interspike intervals of the high-frequency component of the bursts are very similar. The low variability in interspike intervals cannot be attributed to a burst mode characterized by fixed interspike times. Different, but repeatable, burst patterns are observed when movements having approximately the same amplitude but different velocity profiles occur. These findings suggest that the discharge of a single pontine cell is strongly correlated with the activity of other pontine burst cells. Both the high temporal precision of the saccade-related bursts and the correlated activity of pontine burst cells reduce variability in the signals sent to the motoneuron pools and, thereby, contribute to the accuracy and precision of saccadic eye movements.

A-, T-, and H-type currents shape intrinsic firing of developing rat abducens motoneurons

During postnatal development, profound changes take place in the excitability of nerve cells, including modification in the distribution and properties of receptor-operated channels and changes in the density and nature of voltage-gated channels. We studied here the firing properties of abducens motoneurons (aMns) in transverse brainstem slices from postnatal day (P) 1-13 rats. Recordings were made from aMNs in the whole-cell configuration of the patch-clamp technique. Two main types of aMn could be distinguished according to their firing profile during prolonged depolarizations. Both types were identified as aMns by their fluorescence following retrograde labelling with the lipophilic carbocyanine DiI in the rectus lateralis muscle. The first type (BaMns) exhibited a burst of action potentials (APs) followed by an adaptation of discharge and were encountered in approximately 70 % of aMns. Their discharge profile resembled that of adult aMns and was encountered in all aMns after P9. BaMns exhibited a hyperpolarization-induced rebound potential that was blocked by low concentrations of Ni2+ or by Ca2+-free external solution. This current had the properties of the T-type current. Action potentials of BaMns showed a complex afterhyperpolarization (AHP). An inward rectification was evidenced following hyperpolarization and was blocked by external application of caesium or ZD7288, indicating the presence of the hyperpolarization-activated cationic current (IH). Blocking the IH current almost doubled the input resistance of BaMns. The second class of aMns (DaMns) displayed a delayed excitation that was mediated by A-type K+ currents and was observed only between P4 and P9. DaMns exhibited immature characteristics: an action potential with a simple AHP, a linear current-voltage relation and a large input resistance. The number of aMns remained unchanged when both types were present (P5-P6) and later in development when only BaMns were encountered (P19), suggesting that DaMns mature into BaMns during postnatal development. We conclude that aMns display profound reorganization in their intrinsic excitability during postnatal development.

Role of uncertainty in sensorimotor control

Neural signals are corrupted by noise and this places limits on information processing. We review the processes involved in goal-directed movements and how neural noise and uncertainty determine aspects of our behaviour. First, noise in sensory signals limits perception. We show that, when localizing our hand, the central nervous system (CNS) integrates visual and proprioceptive information, each with different noise properties, in a way that minimizes the uncertainty in the overall estimate. Second, noise in motor commands leads to inaccurate movements. We review an optimal-control framework, known as 'task optimization in the presence of signal-dependent noise', which assumes that movements are planned so as to minimize the deleterious consequences of noise and thereby minimize inaccuracy. Third, during movement, sensory and motor signals have to be integrated to allow estimation of the body's state. Models are presented that show how these signals are optimally combined. Finally, we review how the CNS deals with noise at the neural and network levels. In all of these processes, the CNS carries out the tasks in such a way that the detrimental effects of noise are minimized. This shows that it is important to consider effects at the neural level in order to understand performance at the behavioural level.

Influence of afferent synaptic innervation on the discharge variability of cat abducens motoneurones

The discharge variability of abducens motoneurones was studied after blocking inhibitory synaptic inputs or both excitatory and inhibitory inputs by means of an intramuscular (lateral rectus) injection of either a low (0.5 ng kg(-1)) or a high dose (5 ng kg(-1)) of tetanus neurotoxin (TeNT), respectively. Motoneuronal firing increased after low-dose TeNT. High-dose treatment, however, produced a firing depression, and in some cells, a total lack of modulation in relation to eye movements. Firing became increasingly more regular with larger TeNT doses as shown by significant reductions in the coefficient of variation after low- and high-dose treatments. Similarly, autocorrelation histograms of interspike intervals increased the number of resolvable peaks twofold in low-dose-treated motoneurones and sevenfold in high-dose-treated motoneurones. The plots of standard deviation versus the mean instantaneous firing frequency showed an upward deflexion with low firing frequencies. The upward deflexion occurred in controls at 39.9 +/- 4.9 ms, an interval similar to the mean afterhyperpolarisation (AHP) duration (48.4 +/- 8.8 ms). Low-dose TeNT treatment shifted the deflexion point to 20.9 +/- 3.9 ms, whereas the high dose increased it to 60.7 +/- 6.1 ms, in spite of the fact that no differences in AHP parameters between groups were found. The density of synaptophysin-immunoreactive boutons decreased by 14 % after the low-dose treatment and 40.5 % after the high-dose treatment, indicating that protracted synaptic blockade produces elimination of synaptic boutons. It is concluded that abducens motoneurone spike variability during spontaneous ocular fixations depends largely on the balance between inhibitory and excitatory synaptic innervation.

Modeling LGN responses during free-viewing: a possible role of microscopic eye movements in the refinement of cortical orientation selectivity

Neural activity appears to be essential for the normal development of the orientation-selective responses of cortical cells. It has been proposed that the correlated activity of LGN cells is a crucial component for shaping the receptive fields of cortical simple cells into adjacent, oriented subregions alternately receiving ON- and OFF-center excitatory geniculate inputs. After eye opening, the spatiotemporal structure of neural activity in the early stages of the visual pathway depends not only on the characteristics of the environment, but also on the way the environment is scanned. In this study, we use computational modeling to investigate how eye movements might affect the refinement of orientation tuning in the presence of a Hebbian scheme of synaptic plasticity. Visual input consisting of natural scenes scanned by varying types of eye movements was used to activate a spatiotemporal model of LGN cells. In the presence of different types of movement, significantly different patterns of activity were found in the LGN. Specific patterns of correlation required for the development of segregated cortical receptive field subregions were observed in the case of micromovements, but were not seen in the case of saccades or static presentation of natural visual input. These results suggest an important role for the eye movements occurring during fixation in the refinement of orientation selectivity.

Optimality of position commands to horizontal eye muscles: A test of the minimum-norm rule

Six muscles control the position of the eye, which has three degrees of freedom. Daunicht proposed an optimization rule for solving this redundancy problem, whereby small changes in eye position are maintained by the minimum possible change in motor commands to the eye (the minimum-norm rule). The present study sought to test this proposal for the simplified one-dimensional case of small changes in conjugate eye position in the horizontal plane. Assuming such changes involve only the horizontal recti, Daunicht's hypothesis predicts reciprocal innervation with the size of the change in command matched to the strength of the recipient muscle at every starting position of the eye. If the motor command to a muscle is interpreted as the summed firing rate of its oculomotor neuron (OMN) pool, the minimum-norm prediction can be tested by comparing OMN firing rates with forces in the horizontal recti. The comparison showed 1) for the OMN firing rates given by Van Gisbergen and Van Opstal and the muscle forces given by Robinson, there was good agreement between the minimum-norm prediction and experimental observation over about a +/-30 degrees range of eye positions. This fit was robust with respect to variations in muscle stiffness and in methods of calculating muscle innervation. 2) Other data sets gave different estimates for the range of eye-positions within which the minimum-norm prediction held. The main sources of variation appeared to be disagreement about the proportion of OMNs with very low firing-rate thresholds (i.e., less than approximately 35 degrees in the OFF direction) and uncertainty about eye-muscle behavior for extreme (>30 degrees ) positions of the eye. 3) For all data sets, the range of eye positions over which the minimum-norm rule applied was determined by the pattern of motor-unit recruitment inferred for those data. It corresponded to the range of eye positions over which the size principle of recruitment was obeyed by both agonist and antagonist muscles. It is argued that the current best estimate of the oculomotor range over which minimum-norm control could be used for conjugate horizontal eye position is approximately +/-30 degrees. The uncertainty associated with this estimate would be reduced by obtaining unbiased samples of OMN firing rates. Minimum-norm control may result from reduction of the image movement produced by noise in OMN firing rates.

Pseudo-inverse control in biological systems: a learning mechanism for fixation stability

The problem of redundancy in motor control is common to both robotics and biology. Pseudo-inverse control has been proposed as a solution in robotics and appears to be used by the oculomotor system for eye position. Learning mechanisms for implementing pseudo-inverse control using a distributed system of ocular motor units were investigated by modelling integrator calibration for horizontal eye movements. Ocular motoneuron (OMN) input weights were adjusted with a gradient-descent learning rule, using a retinal-slip estimate as an error signal. Firing-rate threshold only became related to motor-unit strength when a noise term was added to OMN firing rates. The learning rule suppressed those units making the largest contribution to the noise-related error, causing the strongest units to have the highest thresholds (size principle). Because the size principle and pseudo-inverse control are related, the trained system approximated pseudo-inverse control over the central +/-35 degrees of the oculomotor range.

Neural correlates of horizontal vestibulo-ocular reflex cancellation during rapid eye movements in the cat

1. The aim of the present study is to describe the behaviour of identified second-order vestibular neurones in the alert cat during eye saccades. A selection of neurones which are involved in horizontal eye movements has been made. The activity has been compared with a selected sample of abducens motoneurones recorded in the same animals. 2. Alert head-fixed cats were used for this study. Eye movements were recorded by the scleral search coil technique. Abducens motoneurones were identified by antidromic stimulation from the VIth nerve with chronically implanted electrodes. They were recorded extracellularly. 3. Second-order vestibular neurones were identified by orthodromic stimulation from the vestibular organs. They were recorded intra-axonally and injected with horseradish peroxidase after recording of their physiological characteristics. Their morphology was reconstructed from frozen sections. 4. All the recorded vestibular neurones showed various amounts of eye position sensitivity. The firing rate (F) - horizontal eye position (H) characteristics are compared for abducens and vestibular neurones. The population average values are F = 33 + 4 H for motoneurones and F = 51 + 2.4 H for vestibular neurones. 5. All recorded vestibular neurones showed an increase of discharge rate during contralateral horizontal saccades and a strong decrease or pause during ipsilateral saccades. Firing rate - horizontal eye velocity sensitivity has been calculated. 6. Results suggest a strong inhibitory input on vestibular neurones from the saccadic generator. This mechanism underlies the suppression of the vestibulo-ocular reflex during saccades. Our results suggest that in the cat, for saccades of amplitude smaller than 20 deg, there is a variable degree of suppression which is provided by a projection of excitatory bursters (EBNs) on second-order vestibular neurones through inhibitory type II neurones. 7. We also conclude from this study that the eye position sensitivity of vestibular second-order neurones is in fact a motor signal indicating a motor error, i.e. the amount of head or eye movement which remains to be done in order to align gaze on target with the eyes centred in the orbit.

Computer simulation of the neural discharge carried by the abducens nerve during eye fixation in the cat

The neural signal carried by the abducens nerve during eye fixations was simulated. The neural discharge was defined by the number of spikes carried by the abducens nerve within each ms. Calculations were based on real neurophysiological data. The computed neural signal showed frequency histograms and variance/mean ratios typical of a Poisson distribution. A peak was obtained in the power spectral density function of the simulated neural signal. This peak appeared in the frequency range corresponding to the firing rate of single motoneurons for each eye position. It remained as a broad spectral peak after filtering by a second-order differential equation simulating the ocular mechanics. The obtained spectra are similar to the described power spectral density function of eye position recordings. Present results add evidence of a possible neural basis for ocular tremor.

Behaviour of Medial Rectus Motoneurons in the Alert Cat

The activity of identified medial rectus motoneurons was recorded in alert cats during spontaneous and vestibular induced eye movements. Medial rectus motoneurons fired a burst of spikes slightly preceding adducting saccades and increased their discharge rate linearly with successive eye positions in the adducting direction. Conduction velocity (21.3 - 98.2 m/s), eye position sensitivity (ks, 7.1 +/- 1.5 spikes/s/deg), and eye velocity sensitivity (rs, 1 +/- 0.2 spikes/s/deg/s) during spontaneous eye movements, and time constants calculated from phase lead analysis (To, 135 +/- 36 ms) showed values similar to those described previously for cat abducens motoneurons. The firing rate during repeated fixation of the same eye position was affected significantly by the direction of the preceding saccade and by the animal's level of alertness. Eye velocity sensitivity was not significantly affected by changes in the animal's level of alertness. A weak negative relationship (coefficient of correlation=-0.56) was observed between eye velocity sensitivity (rv) and sinusoidal rotational frequency, with no change in eye position sensitivity (kv) with stimulus frequency. The subsequent changes in the time constant (Tv) calculated as Tv=rv/kv in relation to stimulus frequency suggests that the oculomotor system deviates from a (linear) first-order model.

A neurophysiological study of prepositus hypoglossi neurons projecting to oculomotor and preoculomotor nuclei in the alert cat

The activity of 62 antidromically identified prepositus hypoglossi neurons was recorded in 10 alert cats during spontaneous, vestibular or visually induced eye movements. Neurons were antidromically activated from stimulating electrodes implanted in the ipsilateral medial longitudinal fasciculus (n = 24), the ipsilateral interstitial nucleus of Cajal (n = 6), the ipsilateral parabigeminal nucleus (n = 2), the contralateral superior colliculus (n = 6) and the contralateral cerebellar posterior peduncle (n = 24). Neurons were identified as eye-movement-related when their rate-position and/or rate-velocity plots showed correlation coefficients greater than or equal to 0.6. They were further classified as "position", "position-velocity" and "velocity-position" according to their relative eye position and velocity coefficients. However, they seemed to be distributed as a continuum in which a progressive decrease of eye velocity sensitivity was accompanied by a proportional increase in eye position sensitivity. "Position-velocity" neurons (n = 9) were mainly horizontal type II neurons projecting to the vicinity of the oculomotor complex; two of these neurons with vertical sensitivity were also activated from the interstitial nucleus of Cajal. Mean position and velocity sensitivity of these neurons were 5.2 spikes/s per degree and 0.62 spikes/s per degree per second, respectively. Pure "position" neurons (n = 7) also showed activation during ipsilateral eye fixations; their mean position gain was 7.3 spikes/s per degree and they projected to the ipsilateral oculomotor and Cajal nuclei, and to the contralateral superior colliculus. "Velocity-position" neurons (n = 18) were type I or II neurons with rather irregular tonic firing rates and a mean velocity gain of 0.75 spikes/s per degree per second. Type II "velocity-position" neurons projected mainly to the oculomotor area, while type I neurons projected preferentially to the cerebellum. A special type of "pause" neuron (n = 5), with very low firing rate and pausing mainly for contralateral saccades, was activated exclusively from the contralateral posterior peduncle. Many neurons with weak eye movement sensitivity (n = 22) were activated mainly (73%) from the cerebellum. It can be concluded that the prepositus hyperglossi nucleus distributes specific eye movement related signals to motor and premotor brainstem and cerebellar structures. The variability of interspike intervals of representative prepositus hypoglossi neurons of each class was compared to the discharge variability of identified abducens motoneurons.(ABSTRACT TRUNCATED AT 400 WORDS)