Hemodynamics in the leech: blood flow in two hearts switching between two constriction patterns

The neuromuscular transform in a single segment of a segmented heart tube

Leech hearts are hybrids; they are myogenic but need entrainment by a heartbeat central pattern generator (CPG) to execute functional constriction patterns. Leech hearts are modular: two lateral segmented heart tubes running the length of the animal. Moving blood through the segmented heart tubes of leeches requires sequential constrictions, timed by a heartbeat CPG and relayed to each heart segment by likewise segmental motor neurons. The heartbeat CPG produces bilaterally asymmetric coordinations: rear-to-front peristaltic on one side and nearly synchronous on the other, periodically switching sides. We examined the neuromuscular transform of isolated heart segments in response to electrical nerve stimulation to identify the range of parameters (burst duration, intraburst pulse frequency, period) allowing the heart to constrict continuously and reliably. Constriction amplitudes increased with increasing intraburst frequencies and decreased with decreasing burst durations. Similar amplitudes were achieved with longer burst durations combined with lower frequencies or with shorter burst durations combined with higher frequencies. Long burst durations delayed relaxation, leading to summation and tetanus. The time, and its variability, between stimulus onset and time to constriction onset or to peak decreased with increasing frequency. Data previously obtained in vivo showed that the heart excitatory motor neurons fired longer bursts at lower frequencies at long periods moving to shorter bursts with higher intraburst frequencies as the period shortened. In this scenario, active constriction started earlier and the time to reach full systole shortened, allowing more time for relaxation. Relaxation time before the next motor neuron burst appears critical for maintaining constriction amplitude.NEW & NOTEWORTHY Moving blood through the segmented heart tubes of leeches requires sequential constrictions driven by motor neurons controlled by a central pattern generator. In a single heart segment, we varied stimuli to explore the neuromuscular transform. Decreasing the cycle period, e.g., to increase volume pumped over time, without altering motor burst duration and intraburst spike frequency shortens relaxation time and decreases amplitude. The likely strategy to preserve constriction amplitude is to shorten burst duration while increasing spike frequency.

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.

The neural control of heartbeat in invertebrates

The neurogenic heartbeat of certain invertebrates has long been studied both as a way of understanding how automatic functions are regulated and for how neuronal networks generate the inherent rhythmic activity that controls and coordinates this vital function. This review focuses on the heartbeat of decapod crustaceans and hirudinid leeches, which remain important experimental systems for the exploration of central pattern generator networks, their properties, network and cellular mechanisms, modulation, and how animal-to-animal variation in neuronal and network properties are managed to produce functional output.

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.

Targeting a neuropeptide to discrete regions of the motor arborizations of a single neuron

The heart excitor (HE) motor neuron in the leech Hirudo releases acetylcholine (ACh) and a peptide, FMRFamide, to regulate the contractile activity of the heart tube and associated side vessels. Consistent with Dale's principle, it was assumed that both neurotransmitters were localized to all presynaptic varicosities. However, we found discrete peptide-positive and peptide-negative varicosities associated with particular sites of innervation on the heart tube. We produced dual-labeled HE neurons by pressure injecting Neurobiotin into single HE cell bodies and applied anti-FMRFamide antibodies on the same preparations. Consistent with initial expectations, peptide-labeled varicosities were numerous and widely distributed along the heart tube and at one of the three side vessels, the latero-abdominal vessel. Nevertheless, some Neurobiotin-labeled varicosities along the heart tube lacked peptide label entirely. Moreover, there were dense and distinct peptide-negative innervations at the valve junctions of the latero-dorsal and latero-lateral vessels at each segment. Nevertheless, the peptide label was found in HE axons and varicosities that projected distally along the side vessels. Therefore, the more proximal peptide-negative clusters cannot simply be the result of restricted transport or deficient staining of peptide. Rather, we infer that FMRFamide is transported to (or selectively excluded from) discrete locations and that ACh is present in varicosities that lacked peptide. Such targeting of neurotransmitters could be described using a discrete targeting model of synaptic transmission. Compared with Dale's principle, this model may provide a more complete perspective of chemical communication than previously understood.

The dynamics of group formation among leeches

Leeches exploring a new environment continuously meet each other and merge in temporary groups. After 2-3 h, leeches become attracted to each other eventually forming a large and stable group. When their number is reduced, leeches remain solitary, behaving independently. Group formation is facilitated by body injection of serotonin (5-HT) and the level of endogenous 5-HT is elevated in leeches forming a large group. In contrast, intravenous injection of 5-HT antagonists prevented injected leeches from joining a large group of conspecifics. When sensilla near the head were ablated or the supraesophageal ganglion disconnected, leeches remained solitary, but explored the environment swimming and crawling. These results suggest that group formation is initiated by a release of 5-HT triggered by sensilla stimulation and its dynamics can be explained by the establishment of a reinforcement dynamics, as observed during human group formation. As 5-HT affects social interactions also in humans, group formation in leeches and humans share a similar dynamics and hormonal control.

Centrally patterned rhythmic activity integrated by a peripheral circuit linking multiple oscillators

The central pattern generator for heartbeat in the medicinal leech, Hirudo generates rhythmic activity conveyed by heart excitor motor neurons in segments 3-18 to coordinate the bilateral tubular hearts and side vessels. We focus on behavior and the influence of previously un-described peripheral nerve circuitry. Extracellular recordings from the valve junction (VJ) where afferent vessels join the heart tube were combined with optical recording of contractions. Action potential bursts at VJs occurred in advance of heart tube and afferent vessel contractions. Transections of nerves were performed to reduce the output of the central pattern generator reaching the heart tube. Muscle contractions persisted but with a less regular rhythm despite normal central pattern generator rhythmicity. With no connections between the central pattern generator and heart tube, a much slower rhythm became manifest. Heart excitor neuron recordings showed that peripheral activity might contribute to the disruption of centrally entrained contractions. In the model presented, peripheral activity would normally modify the activity actually reaching the muscle. We also propose that the fundamental efferent unit is not a single heart excitor neuron, but rather is a functionally defined unit of about three adjacent motor neurons and the peripheral assembly of coupled peripheral oscillators.

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.

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

Central pattern generators (CPGs) pace and pattern many rhythmic activities. We have uncovered a new module in the heartbeat CPG of leeches that creates a regional difference in this segmentally distributed motor pattern. The core CPG consists of seven identified pairs and one unidentified pair of heart interneurons of which 5 pairs are premotor and inhibit 16 pairs of heart motor neurons. The heartbeat CPG produces a side-to-side asymmetric pattern of activity of the premotor heart interneurons corresponding to an asymmetric fictive motor pattern and an asymmetric constriction pattern of the hearts with regular switches between the two sides. The premotor pattern progresses from rear to front on one side and nearly synchronously on the other; the motor pattern shows corresponding intersegmental coordination, but only from segment 15 forward. In the rearmost segments the fictive motor pattern and the constriction pattern progress from front to rear on both sides and converge in phase. Modeling studies suggested that the known inhibitory inputs to the rearmost heart motor neurons were insufficient to account for this activity. We therefore reexamined the constriction pattern of intact leeches. We also identified electrophysiologically two additional pairs of heart interneurons in the rear. These new heart interneurons make inhibitory connections with the rear heart motor neurons, are coordinated with the core heartbeat CPG, and are dye-coupled to their contralateral homologs. Their strong inhibitory connections with the rearmost heart motor neurons and the small side-to-side phase difference of their bursting contribute to the different motor and beating pattern observed in the animal's rear.

Statistical characterization of social interactions and collective behavior in medicinal leeches

In the present study we analyzed the behavior and interactions among leeches in the same observation tank. Colored beads were glued onto their skin so that their behavior could be followed and quantified. When two or three leeches were present in the observation tank, they searched around for a maximum of 2 h and their motion and behavior were independent from those of their conspecifics. When the number of leeches in the tank was increased to 10, leeches were attracted to each other and exhibited episodes of highly correlated behavior. Solitary leeches injected with serotonin or dopamine increased the portion of time spent pseudoswimming and crawling, respectively. The behavior of three to five leeches injected with serotonin was not statistically independent, and leeches were attracted to their conspecifics and exhibited episodes of correlated behavior. Therefore, serotonin not only induces pseudoswimming in leeches but also promotes social interactions, characterized by a mutual attraction and by episodes of correlated/collective behavior.

Fluid dynamics in developmental biology: moving fluids that shape ontogeny

Human conception, indeed fertilization in general, takes place in a fluid, but what role does fluid dynamics have during the subsequent development of an organism? It is becoming increasingly clear that the number of genes in the genome of a typical organism is not sufficient to specify the minutiae of all features of its ontogeny. Instead, genetics often acts as a choreographer, guiding development but leaving some aspects to be controlled by physical and chemical means. Fluids are ubiquitous in biological systems, so it is not surprising that fluid dynamics should play an important role in the physical and chemical processes shaping ontogeny. However, only in a few cases have the strands been teased apart to see exactly how fluid forces operate to guide development. Here, we review instances in which the hand of fluid dynamics in developmental biology is acknowledged, both in human development and within a wider biological context, together with some in which fluid dynamics is notable but whose workings have yet to be understood, and we provide a fluid dynamicist's perspective on possible avenues for future research.

A central pattern generator producing alternative outputs: phase relations of leech heart motor neurons with respect to premotor synaptic input

The central pattern generator (CPG) for heartbeat in leeches consists of seven identified pairs of segmental heart interneurons and one unidentified pair. Four of the identified pairs and the unidentified pair of interneurons make inhibitory synaptic connections with segmental heart motor neurons. The CPG produces a side-to-side asymmetric pattern of intersegmental coordination among ipsilateral premotor interneurons corresponding to a similarly asymmetric fictive motor pattern in heart motor neurons, and asymmetric constriction pattern of the two tubular hearts: synchronous and peristaltic. Using extracellular techniques, we recorded, in 61 isolated nerve cords, the activity of motor neurons in conjunction with the phase reference premotor heart interneuron, HN(4), and another premotor interneuron that allowed us to assess the coordination mode. These data were then coupled with a previous description of the temporal pattern of premotor interneuron activity in the two coordination modes to synthesize a global phase diagram for the known elements of the CPG and the entire motor neuron ensemble. These average data reveal the stereotypical side-to-side asymmetric patterns of intersegmental coordination among the motor neurons and show how this pattern meshes with the activity pattern of premotor interneurons. Analysis of animal-to-animal variability in this coordination indicates that the intersegmental phase progression of motor neuron activity in the midbody in the peristaltic coordination mode is the most stereotypical feature of the fictive motor pattern. Bilateral recordings from motor neurons corroborate the main features of the asymmetric motor pattern.