Cerebellar output exerts spatially organized influence on neural responses in the rat superior colliculus

Sensorimotor maps can be dynamically calibrated using an adaptive-filter model of the cerebellum

Substantial experimental evidence suggests the cerebellum is involved in calibrating sensorimotor maps. Consistent with this involvement is the well-known, but little understood, massive cerebellar projection to maps in the superior colliculus. Map calibration would be a significant new role for the cerebellum given the ubiquity of map representations in the brain, but how it could perform such a task is unclear. Here we investigated a dynamic method for map calibration, based on electrophysiological recordings from the superior colliculus, that used a standard adaptive-filter cerebellar model. The method proved effective for complex distortions of both unimodal and bimodal maps, and also for predictive map-based tracking of moving targets. These results provide the first computational evidence for a novel role for the cerebellum in dynamic sensorimotor map calibration, of potential importance for coordinate alignment during ongoing motor control, and for map calibration in future biomimetic systems. This computational evidence also provides testable experimental predictions concerning the role of the connections between cerebellum and superior colliculus in previously observed dynamic coordinate transformations.

The human brain contains a structure known as the cerebellum, which contains a vast number of neurons–around 80% of the total ~90 billion. We believe the cerebellum is involved in learning motor skills, and so is vitally important for accurately controlling the movements of our body, amongst other things. However, like most regions of the brain, we still do not fully understand the role of the cerebellum and evidence for new roles is appearing all the time. One such new role is in the calibration of sensorimotor maps in the brain that link our sensory perception to motor function, such as when a visual stimulus causes a redirect of our gaze. We investigated this problem by connecting a mathematical model of the cerebellar cortical microcircuit to simulated sensory maps in the superior colliculus that are used to control orienting movements. We found the error signal generated by inaccurate orienting movements could be used to accurately calibrate sensorimotor maps, and to allow predictive tracking of moving targets. This finding points to a potentially widespread role for the cerebellum in calibrating the sensorimotor maps that are ubiquitous in the brain and could prove useful in controlling the movements of multi-joint robots.

What stops a saccade?

Rapid movements to a target are ballistic; they usually do not last long enough for visual feedback about errors to influence them. Yet, the brain is not simply precomputing movement trajectory. Classical models of movement control involve a feedback loop that subtracts 'where we are now' from 'where we want to be'. That difference is an internal motor error. The feedback loop reduces this error until it reaches zero, stopping the movement. However, neurophysiological studies have shown that movements controlled by the cerebrum (e.g. arm and head movements) and those controlled by the brain stem (e.g. tongue and eye movements) are also controlled, in parallel, by the cerebellum. Thus, there may not be a single error control loop. We propose an alternative to feedback error control, wherein the cerebellum uses adaptive, velocity feedback, integral control to stop the movement on target.This article is part of the themed issue 'Movement suppression: brain mechanisms for stopping and stillness'.

Neuromimetic model of saccades for localizing deficits in an atypical eye-movement pathology

Background

When patients with ocular motor deficits come to the clinic, in numerous situations it is hard to relate their behavior to one or several deficient neural structures. We sought to demonstrate that neuromimetic models of the ocular motor brainstem could be used to test assumptions of the neural deficits linked to a patient’s behavior.

Methods

Eye movements of a patient with unexplained neurological pathology were recorded. We analyzed the patient’s behavior in terms of a neuromimetic saccadic model of the ocular motor brainstem to formulate a pathophysiological hypothesis.

Results

Our patient exhibited unusual ocular motor disorders including increased saccadic peak velocities (up to ≈1000 deg/s), dynamic saccadic overshoot, left-right asymmetrical post-saccadic drift and saccadic oscillations. We show that our model accurately reproduced the observed disorders allowing us to hypothesize that those disorders originated from a deficit in the cerebellum.

Conclusion

Our study suggests that neuromimetic models could be a good complement to traditional clinical tools. Our behavioral analyses combined with the model simulations localized four different features of abnormal eye movements to cerebellar dysfunction. Importantly, this assumption is consistent with clinical symptoms.

Effects of body to head rotation on the labyrinthine responses of rat vestibular neurons

Vestibulospinal reflexes elicited by head displacement in space depend on the direction of body displacement, because the neuronal responses to labyrinthine stimulation are tuned by neck displacement: a directional tuning takes place in the medial cerebellum and in spinal motoneurons, while a gain and a basal activity tuning can be observed in the reticular formation, a target structure of the medial cerebellum. In the present study, we investigated whether also the response of vestibular nuclear neurons (another target of the medial cerebellum) to labyrinthine stimulation is tuned by neck displacement and which parameters of the response are modulated by it. In urethane-anaesthetized Wistar rats, single-unit activity was recorded from the vestibular nuclei at rest and during wobble of the whole animal at 0.156 Hz. This stimulus tilted the animal's head by a constant amplitude (5°), in a direction rotating at a constant velocity over the horizontal plane, either in clockwise or counter clockwise direction. The gain and the direction of neuronal responses to wobble were evaluated through Fourier analysis, in the control position (with coincident head and body axes) and following a body-to-head rotation of 5-30° over the horizontal plane, in both directions. Most of the vestibular neurons modified their response gain and/or their basal activity following body-to-head rotation, as it occurs in the reticular formation. Only few neurons modified their response direction, as occurs in the cerebellum and in spinal motoneurons. The different behaviour of cerebellar neurons and of their vestibular and reticular target cells, suggests that the role played by the cerebellum in the neck tuning of vestibulospinal reflexes has to be reconsidered.

An internal model architecture for novelty detection: implications for cerebellar and collicular roles in sensory processing

The cerebellum is thought to implement internal models for sensory prediction, but details of the underlying circuitry are currently obscure. We therefore investigated a specific example of internal-model based sensory prediction, namely detection of whisker contacts during whisking. Inputs from the vibrissae in rats can be affected by signals generated by whisker movement, a phenomenon also observable in whisking robots. Robot novelty-detection can be improved by adaptive noise-cancellation, in which an adaptive filter learns a forward model of the whisker plant that allows the sensory effects of whisking to be predicted and thus subtracted from the noisy sensory input. However, the forward model only uses information from an efference copy of the whisking commands. Here we show that the addition of sensory information from the whiskers allows the adaptive filter to learn a more complex internal model that performs more robustly than the forward model, particularly when the whisking-induced interference has a periodic structure. We then propose a neural equivalent of the circuitry required for adaptive novelty-detection in the robot, in which the role of the adaptive filter is carried out by the cerebellum, with the comparison of its output (an estimate of the self-induced interference) and the original vibrissal signal occurring in the superior colliculus, a structure noted for its central role in novelty detection. This proposal makes a specific prediction concerning the whisker-related functions of a region in cerebellar cortical zone A₂ that in rats receives climbing fibre input from the superior colliculus (via the inferior olive). This region has not been observed in non-whisking animals such as cats and primates, and its functional role in vibrissal processing has hitherto remained mysterious. Further investigation of this system may throw light on how cerebellar-based internal models could be used in broader sensory, motor and cognitive contexts.

Reorganization of functional brain maps after exercise training: Importance of cerebellar-thalamic-cortical pathway

Exercise training (ET) causes functional and morphologic changes in normal and injured brain. While studies have examined effects of short-term (same day) training on functional brain activation, less work has evaluated effects of long-term training, in particular treadmill running. An improved understanding is relevant as changes in neural reorganization typically require days to weeks, and treadmill training is a component of many neurorehabilitation programs. Adult, male rats (n=10) trained to run for 40 min/day, 5 days/week on a Rotarod treadmill at 11.5 cm/s, while control animals (n=10) walked for 1 min/day at 1.2 cm/s. Six weeks later, [(14)C]-iodoantipyrine was injected intravenously during treadmill walking. Regional cerebral blood flow-related tissue radioactivity was quantified by autoradiography and analyzed in the three-dimensionally reconstructed brain by statistical parametric mapping. Exercised compared to nonexercised rats demonstrated increased influence of the cerebellar-thalamic-cortical (CbTC) circuit, with relative increases in perfusion in deep cerebellar nuclei (medial, interposed, lateral), thalamus (ventrolateral, midline, intralaminar), and paravermis, but with decreases in the vermis. In the basal ganglia-thalamic-cortical circuit, significant decreases were noted in sensorimotor cortex and striatum, with associated increases in the globus pallidus. Additional significant changes were noted in the ventral pallidum, superior colliculus, dentate gyrus (increases), and red nucleus (decreases). Following ET, the new dynamic equilibrium of the brain is characterized by increases in the efficiency of neural processing (sensorimotor cortex, striatum, vermis) and an increased influence of the CbTC circuit. Cerebral regions demonstrating changes in neural activation may point to alternate circuits, which may be mobilized during neurorehabilitation.

The mammalian superior colliculus: laminar structure and connections

The superior colliculus is a laminated midbrain structure that acts as one of the centers organizing gaze movements. This review will concentrate on sensory and motor inputs to the superior colliculus, on its internal circuitry, and on its connections with other brainstem gaze centers, as well as its extensive outputs to those structures with which it is reciprocally connected. This will be done in the context of its laminar arrangement. Specifically, the superficial layers receive direct retinal input, and are primarily visual sensory in nature. They project upon the visual thalamus and pretectum to influence visual perception. These visual layers also project upon the deeper layers, which are both multimodal, and premotor in nature. Thus, the deep layers receive input from both somatosensory and auditory sources, as well as from the basal ganglia and cerebellum. Sensory, association, and motor areas of cerebral cortex provide another major source of collicular input, particularly in more encephalized species. For example, visual sensory cortex terminates superficially, while the eye fields target the deeper layers. The deeper layers are themselves the source of a major projection by way of the predorsal bundle which contributes collicular target information to the brainstem structures containing gaze-related burst neurons, and the spinal cord and medullary reticular formation regions that produce head turning.

The liabilities of mobility: a selection pressure for the transition to consciousness in animal evolution

The issue of the biological origin of consciousness is linked to that of its function. One source of evidence in this regard is the contrast between the types of information that are and are not included within its compass. Consciousness presents us with a stable arena for our actions-the world-but excludes awareness of the multiple sensory and sensorimotor transformations through which the image of that world is extracted from the confounding influence of self-produced motion of multiple receptor arrays mounted on multijointed and swivelling body parts. Likewise excluded are the complex orchestrations of thousands of muscle movements routinely involved in the pursuit of our goals. This suggests that consciousness arose as a solution to problems in the logistics of decision making in mobile animals with centralized brains, and has correspondingly ancient roots.

The cerebellum: organization, functions and its role in nociception

Our vision of the cerebellum has been gradually transformed throughout the last century from a 'little brain' to a 'neuronal machine' capable of multitasks, all arguably based on a principle computational model. We review here the main functions of the cerebellum in light of its organization and connectivity. In addition to providing a clear and extensive review of the cerebellar literature, we emphasize the role of the cerebellum in nociception, which is novel to the neurophysiology of pain. However, it is premature to conclude that the cerebellum influences sensory experience in the absence of clinical data.

Phasic activation of substantia nigra and the ventral tegmental area by chemical stimulation of the superior colliculus: an electrophysiological investigation in the rat

The source of short-latency visual input to midbrain dopaminergic (DA) neurons is not currently known; however, the superior colliculus (SC) is a subcortical visual structure which has response latencies consistently shorter than those recorded for DA neurons in substantia nigra and the ventral tegmental area. To test whether the SC represents a plausible route by which visual information may gain short latency access to the ventral midbrain, the present study examined whether experimental stimulation of the SC can influence the activity of midbrain DA neurons. In urethane-anaesthetized rats, 63 pairs of extracellular recordings were obtained from neurons in the SC and ipsilateral ventral midbrain, before and after local disinhibitory injections of the GABA antagonist bicuculline (20-40 ng/200-400 nL saline) into the SC. Neurons recorded from substantia nigra and the ventral tegmental area were classified as putative DA (25/63, 39.7%) or putative non-DA (38/63, 60.3%). In nearly half the cases (27/63, 42.8%), chemical stimulation of the SC evoked a corresponding increase in neural activity in the ventral midbrain. This excitatory effect did not distinguish between DA and non-DA neurons. In 6/63 cases (9.5%), SC activation elicited a reliable suppression of activity, while the remaining 30/63 cases (47.6%) were unaffected. In almost a third of cases (16/57, 28.1%) intense phasic activation of the SC was associated with correlated phasic activation of neurons in substantia nigra and the ventral tegmental area. These data suggest that the SC is in a position to play an important role in discriminating the appropriate stimulus qualities required to activate DA cells at short latency.

Chemoarchitecture of GABAergic neurons in the ferret superior colliculus

gamma-Aminobutyric acid (GABA)ergic neurons are thought to play a key role both in visual processing and in the complex sensory-motor transformations that take place in the mammalian superior colliculus. To understand the organization of GABAergic neurons in the ferret superior colliculus, we applied antisera to several markers of GABAergic function, including GABA, two isoforms of its synthetic enzyme glutamic acid decarboxylase (GAD-65 and GAD-67), and the GABA transporter, GAT-1. We also applied antisera to several calcium binding proteins (calbindin [CB], calretinin [CR], and parvalbumin [PV]) and neuronal nitric oxide synthase (NOS), chemical markers that colocalize with GABA in some areas of the central nervous system. The distribution of GABAergic neurons in the ferret is similar to that of other mammalian species. GABAergic neurons in the ferret superior colliculus were small, morphologically diverse, and widely distributed throughout all layers of the colliculus. As has been shown in other mammalian species, neurons expressing PV, CB, CR, and NOS were differentially distributed in layers and patches throughout the ferret colliculus. None of these markers, however, showed a distribution that mirrored that of GABAergic neurons. Furthermore, few GABAergic neurons colocalized these neurochemical markers. Only 14% of GABAergic neurons in the superficial layers and 18% of neurons in the deeper layers colocalized PV, 14% of GABAergic neurons in the superficial layers and 10% in the deeper layers colocalized CB, and only 1% of GABAergic neurons in both the superficial and deep layers colocalized nitric oxide synthase. Thus, the arrangement of GABAergic neurons in the ferret superior colliculus is broadly distributed and is distinct from other recognized organizational patterns in the superior colliculus.

Superior colliculus firing changes after lesion or electrical stimulation of the subthalamic nucleus in the rat

Recent data have suggested a critical role for the basal ganglia in the remote control of epileptic seizures. In particular, it has been shown that inhibition of either substantia nigra pars reticulata or subthalamic nucleus as well as activation of the superior colliculus suppresses generalized seizures in several animal models. It was previously shown that high frequency stimulation of the subthalamic nucleus, thought to act as functional inhibition, stopped ongoing non-convulsive generalized seizures in rats. In order to determine whether high frequency stimulation of the subthalamic nucleus involved an activation of superior colliculus neurons, we examined the effects of subthalamic nucleus manipulation, by either high frequency stimulation or chemical lesion, on the spontaneous electrical activity of superior colliculus neurons. Acute high frequency stimulation of the subthalamic nucleus (frequency 130 Hz) induced an immediate increase of unitary activity in 70% of responding cells, mainly located within the deep layers, whereas a reduction was observed in the remaining 30%. The latter responses are dependent on the intensity and frequency of the stimulation. Unilateral excitotoxic lesion of the subthalamic nucleus induced a delayed and transient decrease of superior colliculus activity. Our data suggest that high frequency stimulation of the subthalamic nucleus suppresses generalised epileptic seizures through superior colliculus activation.

Gaze shifts evoked by electrical stimulation of the superior colliculus in the head-unrestrained cat. II. Effect of muscimol inactivation of the caudal fastigial nucleus

The medioposterior cerebellum [vermian lobules VI and VII and caudal fastigial nucleus (cFN)] is known to play a major role in the control of saccadic gaze shifts toward a visual target. To determine the relative contribution of the cFN efferent pathways to the brainstem reticular formation and to the superior colliculus (SC), we recorded in the head-unrestrained cat the effects of cFN unilateral inactivation on gaze shifts evoked by electrical microstimulation of the deeper SC layers. Gaze shifts evoked after muscimol injection still exhibited the typical qualitative features of normal saccadic gaze shifts. Nevertheless, consistent modifications in amplitude and latency were observed. For ipsiversive movements (evoked by the SC contralateral to the inactivated cFN), these changes depended on the locus of stimulation on the motor map: for the anterior 2/3 of the SC, amplitude increased and latency tended to decrease; for the posterior 1/3 of the SC, amplitude decreased and latency increased. For the contraversive direction, amplitude moderately decreased and latency tended to increase for all but the caudal-most stimulated SC site. These modifications of SC-evoked gaze shifts during cFN inactivation differed from the ipsiversive hypermetria/contraversive hypometria pattern observed for visually triggered gaze shifts recorded during the same recording sessions. We conclude that (i) the topographical organization of gaze shift amplitude in the deeper SC layers is influenced by the cerebellum and is either severely distorted or demonstrates an amplitude reduction during inactivation of the contralateral or ipsilateral cFN, respectively; (ii) gaze shifts evoked by SC microstimulation and visually triggered gaze shifts either rely on distinct cerebellar-dependent control processes or differ by the location of the caudal-most active SC population. We present a functional scheme providing several predictions regarding the modulatory influence of the cerebellum on SC neuronal activities and on the topographical organization of fastigial-SC projections.