Stretch receptors and body wall muscle in leeches

Neuronal control of leech behavior

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

Characterization of central axon terminals of putative stretch receptors in leeches

Sensory feedback from stretch receptors, neurons that detect position or tension, is crucial for generating normal, robust locomotion. Among the eight pairs of putative stretch receptors associated with longitudinal muscles in midbody segments of medicinal leeches, only the ventral stretch receptor has been characterized in detail. To achieve the identification of all such receptors, we penetrated large axons in the nerve roots of nerve cords from adult leeches with dye-filled (Alexa Fluor hydrazide) electrodes. We identified the terminal arborizations of two additional putative stretch receptors with axons in anterior nerve roots and four more such receptors with axons in posterior roots of midbody ganglia. The axons are nonspiking and are individually identifiable by their entry point into the CNS; their projections within the neuropile; the pattern, extent, and orientation of their terminal branches; and the characteristics of small "spike-like" events. At least two of these axons undergo membrane potential oscillations that are phase locked to the swimming rhythm expressed in nerve cord-body wall preparations and, at a different phase angle, also in isolated nerve cords. Thus the membrane potentials of at least two axons are phasically modulated by the periphery and hence could provide cycle-by-cycle sensory input to coordinate swimming activity. One of these neurons has a soma associated with the dorsal body wall and hence is a putative stretch receptor in dorsal longitudinal muscle. Thus the traveling body wave expressed by swimming leeches may be regulated by sensory feedback from both ventral and dorsal longitudinal muscles.

Entrainment of leech swimming activity by the ventral stretch receptor

Rhythmic animal movements originate in CNS oscillator circuits; however, sensory inputs play an important role in shaping motor output. Our recent studies demonstrated that leeches with severed nerve cords swim with excellent coordination between the two ends, indicating that sensory inputs are sufficient for maintaining intersegmental coordination. In this study, we examined the neuronal substrates that underlie intersegmental coordination via sensory mechanisms. Among the identified sensory neurons in the leech, we found the ventral stretch receptor (VSR) to be the best candidate for our study because of its sensitivity to tension in longitudinal muscle. Our experiments demonstrate that (1) the membrane potential of the VSR is depolarized during swimming and oscillates with an amplitude of 1.5-5.0 mV, (2) rhythmic currents injected into the VSR can entrain ongoing swimming over a large frequency range (0.9-1.8 Hz), and (3) large current pulses injected into the VSR shift the phase of the swimming rhythm. These results suggest that VSRs play an important role in generating and modulating the swim rhythm. We propose that coordinated swimming in leech preparations with severed nerve cords results from mutual entrainment between the two ends of the leech mediated by stretch receptors.

Model for intersegmental coordination of leech swimming: central and sensory mechanisms

Sensory feedback as well as the coupling signals within the CNS are essential for leeches to produce intersegmental phase relationships in body movements appropriate for swimming behavior. To study the interactions between the central pattern generator (CPG) and peripheral feedback in controlling intersegmental coordination, we have constructed a computational model for the leech swimming system with physiologically realistic parameters. First, the leech swimming CPG is simulated by a chain of phase oscillators coupled by three channels of coordinating signals. The activity phase, the projection direction, and the phase response curve (PRC) of each channel are based on the identified intersegmental interneuron network. Output of this largely constrained model produces stable coordination in the simulated CPG with average phase lags of 8-10 degrees/segment in the period range from 0.5 to 1.5 s, similar to those observed in isolated nerve cords. The model also replicates the experimental finding that shorter chains of leech nerve cords have larger phase lags per segment. Sensory inputs, represented by stretch receptors, were subsequently incorporated into the CPG model. Each stretch receptor with its associated PRC, which was defined to mimic the experimental results of phase-dependent phase shifts of the central oscillator by the ventral stretch receptor, can alter the phase of the local central oscillator. Finally, mechanical interactions between the muscles from neighboring segments were simulated by PRCs linking adjacent stretch receptors. This model shows that interactions between neighboring muscles could globally increase the phase lags to the larger value required for the one-wavelength body form observed in freely swimming leeches. The full model also replicates the experimental observation that leeches with severed nerve cords have larger intersegmental phase lags than intact animals. The similarities between physiological and simulation results demonstrate that we have established a realistic model for the central and peripheral control of intersegmental coordination of leech swimming.

Distributed motor pattern underlying whole-body shortening in the medicinal leech

Whole-body shortening was studied in the leech, Hirudo medicinalis, by a combination of videomicroscopy and multielectrode recordings. Video microscopy was used to monitor the animal behavior and muscle contraction. Eight suction pipettes were used to obtain simultaneous electrical recordings from fine roots emerging from ganglia. This vital escape reaction was rather reproducible. The coefficient of variation of the animal contraction during whole-body shortening was between 0.2 and 0.3. The great majority of all leech longitudinal motoneurons were activated during this escape reaction, in particular motoneurons 3, 4, 5, 8, 107, 108, and L. The firing pattern of all these motoneurons was poorly reproducible from trial to trial, and the coefficient of variation of their firing varied between 0.3 and 1.5 for different motoneurons. The electrical activity of pairs of coactivated motoneurons did not show any sign of correlation over a time window of 100 ms. Only the left and right motoneurons L in the same ganglion had a correlated firing pattern, resulting from their strong electrical coupling. As a consequence of the low correlation between coactivated motoneurons, the global electrical activity during whole-body shortening became reproducible with a coefficient of variation below 0.3 during maximal contraction. These results indicate that whole-body shortening is mediated by the coactivation of a large fraction of all leech motoneurons, i.e., it is a distributed process, and that coactivated motoneurons exhibit a significant statistical independence. Probably due to this statistical independence this vital escape reaction is smooth and reproducible.

Sensory modification of leech swimming: rhythmic activity of ventral stretch receptors can change intersegmental phase relationships

For segmented animals to generate optimal locomotory movements, appropriate phase relationships between segmental oscillators are crucial. Using swimming leeches, we have investigated the role of sensory input in establishing such relationships. We found that the stretch receptors associated with ventral longitudinal muscles encode the information of muscle contraction during swimming via membrane potential oscillations, with amplitudes of up to 10 mV at our recording site. We subsequently modified the activity of ventral stretch receptors (VSRs) by injecting rhythmic current at different phases of the swim cycle and determined intersegmental phase lags by comparing the delay between the discharges of serially homologous motoneurons in three adjacent segments of isolated nerve cords. When no current was injected, the phase lag between neighboring segments was 8.6 +/- 0.8 degrees (mean +/- SEM; n = 20), with large phase variations from cycle to cycle, between different episodes, and between different preparations. When the phase of stretch receptor activity was set to 90-150 degrees by current injection, the phase of the motoneuron activity in the ganglion was consistently retarded by approximately 5 degrees. It was advanced by approximately 5 degrees when the VSR phase was set to 240-300 degrees. Therefore, the rhythmic activity of the ventral stretch receptor generated during swimming can change intersegmental phase lags of leech ganglia in a phase-dependent manner. These stretch receptors may set the optimal intersegmental phases during swimming movement in intact leeches.

Initial formation and secondary condensation of nerve pathways in the medicinal leech

Invertebrates have proved to be important experimental systems for examining questions related to growth cone navigation and nerve formation, in large part because of their simpler nervous systems. However, such apparent simplicity can be deceiving because the final stereotyped patterns may be the result of multiple developmental mechanisms and not necessarily the sole consequence of the pathway choices of individual growth cones. We have examined the normal sequence of events that are involved in the formation of the major peripheral nerves in leech embryos by employing (1) an antibody directed against acetylated tubulin to label neurons growing out from the central nervous system, (2) the Lan3-2 antibody to label a specific population of peripheral neurons growing into the central nervous system, and (3) intracellular dye filling of single cells. We found that the mature pattern of nerves was characterized by a pair of large nerve roots, each of which branched into two major tracts. The earliest axonal projections did not, however, establish this pattern definitively. Rather, each of the four nerves initially formed as discrete, roughly parallel tracts without bifurcation, with the final branching pattern of the nerve roots being generated by a secondary condensation. In addition, we found that some of the nerves were pioneered in different ways and by different groups of neurons. One of the nerves was established by central neurons growing peripherally, another by peripheral neurons growing centrally. These results suggest that the formation of common nerves and neuronal pathfinding in the leech involves multiple sets of growth cone guidance strategies and morphogenetic mechanisms that belie its apparent simplicity.

Parallel pathways coordinate crawling in the medicinal leech, Hirudo medicinalis

Changes in the behavior of crawling leeches were investigated after various kinds of manipulations, including selective transection or inactivation of body parts, as well as partial or complete transection of the central nerve cord, using a frame-by-frame analysis of video tapes of the crawling animals. From these studies, we found that: 1. Leeches made rhythmic crawling cycles even after their suckers were prevented from contacting the substrate by covering them over with glue. Hence, engagement and disengagement of the suckers are not necessary links in the crawling cycle. 2. Cutting the small, medial connective (Faivre's nerve) had no influence on crawling, but contraction during the whole-body shortening reflex was interrupted. Thus two behaviors which use the same motor output (i.e., whole-body shortening and the contraction phase of crawling) are mediated by two different pathways. 3. Cutting all the connectives between two ganglia in the middle of the leech resulted in a loss of coordination between the parts of the animal on either side of the cut. Therefore, temporally coordinated sucker activity must be mediated through these connectives. 4. Pieces of leech bodies produced by complete transection produced rhythmic crawling cycles as long as the pieces included the head or tail plus 2-4 adjacent midbody segments. In all cases, the crawling movements progressed without delays as the movements reached the cut ends. Pieces of animals that included only midbody segments did not produce crawling movements. 5. These results can be explained by a model composed of intersegmental pathways for both elongation and contraction, circuits in the head and tail brains that switch between elongation and contraction, and both ascending and descending inhibitory influences that determine when the cycle switches from elongation to contraction and back again.