Bringing up the rear: new premotor interneurons add regional complexity to a segmentally distributed motor pattern

A tale of two leeches: Toward the understanding of the evolution and development of behavioral neural circuits

In the animal kingdom, behavioral traits encompass a broad spectrum of biological phenotypes that have critical roles in adaptive evolution, but an EvoDevo approach has not been broadly used to study behavior evolution. Here, we propose that, by integrating two leech model systems, each of which has already attained some success in its respective field, it is possible to take on behavioral traits with an EvoDevo approach. We first identify the developmental changes that may theoretically lead to behavioral evolution and explain why an EvoDevo study of behavior is challenging. Next, we discuss the pros and cons of the two leech model species, Hirudo, a classic model for invertebrate neurobiology, and Helobdella, an emerging model for clitellate developmental biology, as models for behavioral EvoDevo research. Given the limitations of each leech system, neither is particularly strong for behavioral EvoDevo. However, the two leech systems are complementary in their technical accessibilities, and they do exhibit some behavioral similarities and differences. By studying them in parallel and together with additional leech species such as Haementeria, it is possible to explore the different levels of behavioral development and evolution.

Mouse incising central pattern generator: Characteristics and modulation by pain

INTRODUCTION

Vertebrate incising and chewing are controlled by a set of neurons comprising the central pattern generator (CPG) for mastication. Mandibular positioning and force generation to perform these tasks is complex and requires coordination of multiple jaw opening and closing muscle compartments located in muscles on both sides of the jaw. The purpose of this study was to determine the characteristics of the CPG by recording mouse incising forces in the home cage environment to evaluate changes in force characteristics with incising frequency and force direction. A second purpose was to evaluate the effects of jaw closing muscle pain on CPG output parameters.

METHODS

Digitized incising forces were recorded for approximately 24 h using a 3-dimensional force transducer attached to solid food chow. Male and female CD-1 mice were evaluated during their last (fourth) baseline assessment and seven days after a second acidic saline injection into the left masseter muscle when maximum pain was experienced. Incising force resultants were calculated from the three axes data and force parameters were assessed including inter-peak intervals (IPI), peak amplitude, load time and unload time. Multiple regression analyses were conducted to identify incising episodes that had parameters of force that were significantly correlated (p < 0.001). These incising episodes were considered to represent the output of the CPG with a steady state of incoming sensory afferent inputs. Incising parameters were evaluated for each of the discrete incising frequencies (4.6, 5.3, 6.2, 7.6 Hz) and the predominant force directions: jaw closing (-Z), jaw retrusion (+X) and jaw protrusion (-X).

RESULTS

A significant correlation between incising frequency (IPI) and the load time was observed. A significant decrease in peak amplitude was observed with higher incising frequency while the load rate significantly increased. The force peak amplitude and load rates were found to be statistically different when the force direction was considered, with smaller peak amplitudes and smaller load rates found in the jaw closing direction. The effect of pain on incising was to reduce the peak amplitude and load rate of incising compared to the baseline condition at lower incising frequencies.

CONCLUSIONS

Like the central pattern generator for locomotion, the CPG for incising controls rhythmicity, peak amplitude and force load duration/rate. However, unlike the CPG for locomotion, the amplitude of incising force decreases as the frequency increases. During incising, load rate increases with faster rhythm and is consistent with the recruitment of larger motor units. Muscle pain reduced the excitatory drive of the CPG on motoneurons and provides further support of the Pain Adaptation Model.

Output variability across animals and levels in a motor system

Rhythmic behaviors vary across individuals. We investigated the sources of this output variability across a motor system, from the central pattern generator (CPG) to the motor plant. In the bilaterally symmetric leech heartbeat system, the CPG orchestrates two coordinations in the bilateral hearts with different intersegmental phase relations (Δϕ) and periodic side-to-side switches. Population variability is large. We show that the system is precise within a coordination, that differences in repetitions of a coordination contribute little to population output variability, but that differences between bilaterally homologous cells may contribute to some of this variability. Nevertheless, much output variability is likely associated with genetic and life history differences among individuals. Variability of Δϕ were coordination-specific: similar at all levels in one, but significantly lower for the motor pattern than the CPG pattern in the other. Mechanisms that transform CPG output to motor neurons may limit output variability in the motor pattern.

A classic model animal in the 21st century: recent lessons from the leech nervous system

The medicinal leech (genus Hirudo) is a classic model animal in systems neuroscience. The leech has been central to many integrative studies that establish how properties of neurons and their interconnections give rise to the functioning of the animal at the behavioral level. Leeches exhibit several discrete behaviors (such as crawling, swimming and feeding) that are each relatively simple. Importantly, these behaviors can all be studied - at least at a basal level - in the isolated nervous system. The leech nervous system is particularly amenable to such studies because of its distributed nature; sensory processing and generation of behavior occur to a large degree in iterated segmental ganglia that each contain only ∼400 neurons. Furthermore, the neurons are relatively large and are arranged with stereotyped topography on the surface of the ganglion, which greatly facilitates their identification and accessibility. This Commentary provides an overview of recent work on the leech nervous system, with particular focus on circuits that underlie leech behavior. Studies that combine the unique features of the leech with modern optical and genetic techniques are also discussed. Thus, this Commentary aims to explain the continued appeal of the leech as an experimental animal in the 21st century.

Variation in motor output and motor performance in a centrally generated motor pattern

Central pattern generators (CPGs) produce motor patterns that ultimately drive motor outputs. We studied how functional motor performance is achieved, specifically, whether the variation seen in motor patterns is reflected in motor performance and whether fictive motor patterns differ from those in vivo. We used the leech heartbeat system in which a bilaterally symmetrical CPG coordinates segmental heart motor neurons and two segmented heart tubes into two mutually exclusive coordination modes: rear-to-front peristaltic on one side and nearly synchronous on the other, with regular side-to-side switches. We assessed individual variability of the motor pattern and the beat pattern in vivo. To quantify the beat pattern we imaged intact adults. To quantify the phase relations between motor neurons and heart constrictions we recorded extracellularly from two heart motor neurons and movement from the corresponding heart segments in minimally dissected leeches. Variation in the motor pattern was reflected in motor performance only in the peristaltic mode, where larger intersegmental phase differences in the motor neurons resulted in larger phase differences between heart constrictions. Fictive motor patterns differed from those in vivo only in the synchronous mode, where intersegmental phase differences in vivo had a larger front-to-rear bias and were more constrained. Additionally, load-influenced constriction timing might explain the amplification of the phase differences between heart segments in the peristaltic mode and the higher variability in motor output due to body shape assumed in this soft-bodied animal. The motor pattern determines the beat pattern, peristaltic or synchronous, but heart mechanics influence the phase relations achieved.

Correlated conductance parameters in leech heart motor neurons contribute to motor pattern formation

Neurons can have widely differing intrinsic membrane properties, in particular the density of specific conductances, but how these contribute to characteristic neuronal activity or pattern formation is not well understood. To explore the relationship between conductances, and in particular how they influence the activity of motor neurons in the well characterized leech heartbeat system, we developed a new multi-compartmental Hodgkin-Huxley style leech heart motor neuron model. To do so, we evolved a population of model instances, which differed in the density of specific conductances, capable of achieving specific output activity targets given an associated input pattern. We then examined the sensitivity of measures of output activity to conductances and how the model instances responded to hyperpolarizing current injections. We found that the strengths of many conductances, including those with differing dynamics, had strong partial correlations and that these relationships appeared to be linked by their influence on heart motor neuron activity. Conductances that had positive correlations opposed one another and had the opposite effects on activity metrics when perturbed whereas conductances that had negative correlations could compensate for one another and had similar effects on activity metrics.

Maturation of peptide-positive synaptic arbors in the medicinal leech requires rhythmic target activity

The formation and refinement of synaptic connections are dependent on the activity that emerges from nascent synaptic connections. Such activity has the effect of regulating the production and release of specific neurotransmitters. To determine the role of activity in regulating the production of peptide-positive synapses, we used antibodies against Phe-Met-Arg-Phe-NH₂ and acetylated α-tubulin as well as intracellular injections of Neurobiotin to examine varicosities belonging to heart excitor (HE) neurons on the heart tubes of medicinal leeches, Hirudo spp. We found that the production of peptide-positive varicosities increased considerably during the last week of embryogenesis, which coincided with the emergence of rhythmic activity of the heart tube. When we compromised central input to HE neurons with bicuculline or by surgical ablation of the central pattern generator during early embryogenesis, we found that activity in the heart tubes and its rhythmicity were greatly diminished. Furthermore, the activity of HE neurons had also lost its rhythmicity and appeared tonic, and production of peptide-positive varicosities was substantially reduced as well. Partial surgical ablations that preserved rhythmic activity in the heart tube while disrupting heart tube innervation by some HE neurons still resulted in peptide-positive varicosity production. Taken together, our results suggest that postsynaptic rhythmic activity of the heart tube is necessary and sufficient for the development and maturation of peptide-positive synapses.

Small is beautiful: models of small neuronal networks

Modeling has contributed a great deal to our understanding of how individual neurons and neuronal networks function. In this review, we focus on models of the small neuronal networks of invertebrates, especially rhythmically active CPG networks. Models have elucidated many aspects of these networks, from identifying key interacting membrane properties to pointing out gaps in our understanding, for example missing neurons. Even the complex CPGs of vertebrates, such as those that underlie respiration, have been reduced to small network models to great effect. Modeling of these networks spans from simplified models, which are amenable to mathematical analyses, to very complicated biophysical models. Some researchers have now adopted a population approach, where they generate and analyze many related models that differ in a few to several judiciously chosen free parameters; often these parameters show variability across animals and thus justify the approach. Models of small neuronal networks will continue to expand and refine our understanding of how neuronal networks in all animals program motor output, process sensory information and learn.

Animal-to-animal variability of connection strength in the leech heartbeat central pattern generator

The heartbeat central pattern generator (CPG) in medicinal leeches controls blood flow within a closed circulatory by programming the constrictions of two parallel heart tubes. This circuit reliably produces a stereotyped fictive pattern of activity and has been extensively characterized. Here we determined, as quantitatively as possible, the strength of each inhibitory synapse and electrical junction within the core circuit of the heartbeat CPG. We also examined the animal-to-animal variability in strengths of these connections and, for some, determined the correlations between connections to the same postsynaptic target. The core CPG is composed of seven bilateral pairs of heart interneurons connected via both inhibitory chemical synapses and electrical junctions. Fifteen different connections within the core CPG were measured for strength using extracellular presynaptic recordings and postsynaptic voltage-clamp recordings across a minimum of seven individuals each, and the animal-to-animal variability was characterized. Connection strengths within the core network varied three to more than sevenfold among individuals (depending on the specific connection). The balance between two inputs onto various postsynaptic targets was explored by within-individual comparisons and correlation across individuals. Of the seven comparisons made within the core CPG, three showed a clear correlation of connection strengths, while the other four did not. We conclude that the leech heartbeat CPG can withstand wide variability in connection strengths and still produce stereotyped output. The network appears to preserve the relative strengths of some pairs of inputs, despite the animal-to-animal variability.