Neurons in the primate superior colliculus coding for arm movements in gaze-related coordinates

In the intermediate and deep layers of the superior colliculus (SC), a well-established oculomotor structure, a substantial population of cells is involved in the control of arm movements. To examine the reference frame of these neurons, we recorded in two rhesus monkeys (Macaca mulatta) the discharges of 331 neurons in the SC and the underlying mesencephalic reticular formation (MRF) while monkeys reached to the same target location during different gaze orientations. For 65 reach-related cells with sufficient data and for simultaneously recorded electromyograms (EMGs) of 11 arm muscles, we calculated an ANOVA (factors: target position, gaze angle) and a gaze-dependency (GD) index. EMGs and the activity of many (60%) of the reach-related neurons were not influenced by the target representation on the retina or eye position. We refer to these as "gaze-independent" reach neurons. For 40%, however, the GD fell outside the range of the muscle modulation, and the ANOVA showed a significant influence of gaze. These "gaze-related" reach neurons discharge only when the monkey reaches for targets having specific coordinates in relation to the gaze axis, i.e., for targets in a gaze-related "reach movement field" (RMF). Neuronal activity was not modulated by the specific path of the arm movement, the muscle pattern that is necessary for its realization or the arm that was used for the reach. In each SC we found gaze-related neurons with RMFs both in the contralateral and in the ipsilateral hemifield. The topographical organization of the gaze-related reach neurons in the SC could not be matched with the well-known visual and oculomotor maps. Gaze-related neurons were more modulated in their strength of activity with different directions of arm movements than were gaze-independent reach neurons. Gaze-related reach neurons were recorded at a median depth of 2.03 mm below SC surface in the intermediate layers, where they overlap with saccade-related burst neurons (median depth: 1.55 mm). Most of the gaze-independent reach cells were found in a median depth of 4.01 mm below the SC surface in the deep layers and in the underlying MRF. The gaze-related reach neurons operating in a gaze-centered coordinate system could signal either the desired target position with respect to gaze direction or the motor error between gaze axis and reach target. The gaze-independent reach neurons, possibly operating in a shoulder- or arm-centered reference frame, might carry signals closer to motor output. Together these two types of reach neurons add evidence to our hypothesis that the SC is involved in the sensorimotor transformation for eye-hand coordination in primates.

Static firing rates of premotor and primary motor cortical neurons associated with torque and joint position

Single cell activity was studied in the postarcuate premotor area (PMA) and primary motor cortex (MI) of two monkeys performing a load-bearing task with the contralateral hand. Steady-state discharge rates were examined in relation to positional maintenance of the wrist which was held in one of three given positions against graded torques directed towards flexion or extension. Significant and monotonic relationships between tonic firing rate and static torque were found in 41% of 477 MI cells and in only 26% of 470 units studied in PMA. However, for specific cell groups in the PMA the proportion of load-related neurons reached that of the MI samples; this was true for pyramidal tract neurons (PTNs) and for 'non-PTNs' if recorded in their vicinity. The most interesting difference pertains to the range of load over which cells in both areas modulated activity. MI neurons showed steepest change of firing rates over a limited range of small torques around zero external load; the population average displayed a sigmoidal relationship. Proportionally more PMA neurons increased their activity over the entire range of torques examined or showed the highest increase with stronger torques; the population average best fitted a quadratic function. The mean firing rate-torque slope of the PMA population was significantly smaller than that of MI. Many cells in either area were related to both torque and joint position and displayed correlates of length-tension properties of muscle. Change of position sensitivity with torque was found to parallel the rate-torque characteristics in individual neurons. Mean position sensitivity of PMA neurons increased with increasing torques in the 'preferred' direction. In contrast, greatest position sensitivity of the MI population occurred over the range of low torques, which means a clear quantitative dissociation from the muscular activities. The results suggest differential roles of MI and PMA in the control of 'fine' versus 'gross' muscular forces. Undoubtedly, some PMA cell elements (possibly certain output neurons) are involved in aspects of postural control of EMG adjustment to load and joint position.

Phasic and tonic responses of premotor and primary motor cortex neurons to torque changes

Responses to torque step perturbation of the wrist were compared in premotor area (PMA) and motor cortex (MI) neurons of the monkey. A substantial portion (39%) of cells recorded from the PMA had phasic responses with onset latencies as short as those found in MI (mostly between 15 and 50 ms). Responsiveness to small perturbations, directional specificity and linear correlation of phasic responses with the velocity of displacement are properties that were essentially present in the PMA. A role of somatosensory feedback to the PMA in accurate and fast up-dating of movement is suggested. Tonically sustained responses to torque change (mean latency around 60 ms) were encountered in both areas and preferentially in neurons that had a monotonic load-relationship under steady-state condition. Such cortical responses did not exhibit reflex-like features, i.e. no correlation with amplitude of torque step and resulting displacement. Instead, the new load condition seemed to be represented by the tonic response of any particular neuron in accordance with its individual firing rate-load characteristics. These tonic cortical responses may be involved in the swift and effective adaptation to the actual load.

Corticostriatal cells in comparison with pyramidal tract neurons: contrasting properties in the behaving monkey

Antidromically identified neurons projecting to the putamen (CPNs) and pyramidal tract neurons (PTNs) were recorded from motor and premotor cortex of a monkey which performed a load-bearing task with the wrist. CPNs appeared as a uniform population with very slowly conducting axons and low spontaneous activity. In contrast to PTNs, they exhibited weak, mostly insignificant correlation with graded steady-state forces, responded to torque perturbations with remarkably long latency, and seemed to discharge much later with active movement. Collateral branching of PTNs to the putamen was found to be infrequent (1%). We suggest that the putamen receives a cortical message that is strikingly different from that sent down the pyramidal tract.

Cerebellar unit responses of the mossy fibre system to passive movements in the decerebrate cat. I. Responses to static parameters

1) Experiments were designed to detect how static parameters of natural, passive hand movements are encoded and integrated within the cerebellar cortex. For this purpose unit activity was recorded extracellularly from presumed mossy fibres (MF), presumed granule cells (GrC) and from Purkinje cells (PC) discharging with simple spikes (SS) and complex spikes (CS). With respect to the PC, our interest was focussed primarily on the SS activity. The recordings were performed in the intermediate part of the cerebellar anterior lobe of decerebrate cats. The animal's forepaw was passively moved around the wrist joint by an electronically controlled device. The movements were exactly reproducible so that peristimulus time histograms of the unit activity could be constructed. 2) At the input level (MF) and at the first level of integration within the cerebellar cortex (GrC), patterns with similar discharge characteristics were found. Such patterns could, to a limited extent, also be detected at the cerebellar output (SS of PC). However, in most cases of SS discharge, patterns were found with weak correlation between the tonic activity and static parameters of the movements. 3) Absolute paw position, amplitude, and duration of movements were found to be related over wide ranges to the activities of MF and GrC. Absolute position is directly encoded by tonic discharge during the low or high holding phases. Beside this, units were found without a correlation between the tonic discharge and the position of the nonmoving paw. However, in these units it was sometimes observed that the information about the momentary position or the information about the mean position was sometimes conveyed exclusively during the proceeding upward or downward movement. Thus, information about static parameters was transmitted only at times when a dynamic parameter (such as velocity) occurred. This type of position information encoding is termed "indirect mode of transmission". 4) A specific relationship between SS unit activity of PC and the absolute position of the forepaw or amplitude of the movement could be found primarily by using multiple ramps instead of single ramp movements. This was observed even if both types of ramp movements had the same velocity, individual amplitude, and tested range. However, on multiple ramp movements the paw generally remained for a shorter period at a specific position level as compared to the single ramp movements. 5) Apart from this timing phenomenon, a late movement response was observed, which results in a specific type of position information encoding on multiple ramp functions.(ABSTRACT TRUNCATED AT 400 WORDS)

Comparative analysis of cerebellar unit discharge patterns in the decerebrate cat during passive movements

1) The present experiments were undertaken to study how information about the parameters of a passive movement is processed at different neuronal levels of the cat cerebellar cortex. The analysis has been performed by recording extracellularly in the intermediate part of the cerebellar anterior lobe from presumed mossy fibres, presumed granule cells, and Purkinje cells with simple spikes and complex spikes. 2) The discharge patterns obtained during passive movements of the cat's forepaw were characterized by components which could be related to dynamic or static parameters of the movement. With respect to the occurrence of dynamic responses, patterns were classified according to a statistically derived measure in three different types. By using the same statistical measure, discharge patterns were additionally classified into two subgroups according to their response components reflecting static parameters. Within the patterns a clearcut relationship between dynamic and static components was observed. The corresponding distributions are shown and discussed. 3) A very interesting result of the classification of cerebellar discharge patterns is that the distribution of the different types depended on the level of integration within the cerebellar cortex. Patterns of the low scale integrated cerebellar input (mossy fibre-system), as well as those of granule cells (the first cerebellar computational niveau), reflected both static and dynamic movement parameters. At the Purkinje cell level (a level with a high degree of convergence) the discharge patterns are characterized predominantly by dynamic responses. 4) The interrelationship between complex- and simple spikes of Purkinje cells was tested by different methods: a) By analyzing the paired values of the mean complex-(CS) and simple spike (SS) discharge probabilities of 110 Purkinje cells a scatter was obtained, indicating an underlying hyperbolic relation (prob(CS) = a/(prob(SS]b). Thus, a high CS discharge probability is accompanied by a low SS probability and vice versa. b) The timelocked complex- and simple spike responses were studied by comparing the similarity of their responses. All combinations of complex- and simple spike patterns were observed, ranging from a sign correct similarity to a mirror image similarity. The distribution of the measure for similarity shows that the mirror image predominated. c) The individual simple spike discharge probability is characterized by a pause evoked by the occurrence of a complex spike event. The simple spike discharge probabilities during an interval preceding and following a complex spike event were compared.(ABSTRACT TRUNCATED AT 400 WORDS)

Cerebellar feedback signals of a passive hand movement in the awake monkey

From three intact and awake monkeys, 149 Purkinje cells and 44 presumed mossy fibres were recorded in the intermediate part of the cerebellar anterior lobe, and this activity was analyzed with regard to different parameters of a passive hand movement. The tonic discharge rate of the simple spikes (SS) varied according to different joint positions only in a single Purkinje cell, whereas such a position relation was found in nine out of 44 presumed mossy fibres. A phasic increase of the complex spike (CS) discharge rate of Purkinje cells in response to passive wrist movements usually occurred within 100 ms after movement onset. However, in some units a phase of increased CS rate was observed which lasted for the whole movement duration. The amount of this phasic increase in the CS rate depended on the acceleration of movement, but the SS response to movements of different velocity remained unchanged.

Simple and complex spike activity of cerebellar Purkinje cells during active and passive movements in the awake monkey

Two Rhesus monkeys (Macaca mulatta) were trained to pursue a target light signal by moving the hand at the wrist joint. Additionally, a d.c. motor could be attached to the lever in order to perform similar passive movements. During performance of the task, single Purkinje cells were recorded from the intermediate part of the cerebellar anterior lobe. Electromyographic activity of the flexor and extensor muscles of the forearm was recorded simultaneously. Passive hand movements evoked changes in the complex spike and simple spike discharge of Purkinje cell. The complex spike responded most sensitively to the beginning of the movement; the activity pattern had phasic character and could be related specifically to the movement direction. The simple spike response was usually weak and hence revealed-less specific relations. During active movements the simple spike frequency change was generally stronger than during passive movements and reached a maximum (or minimum) at the beginning of hand deflexion. The complex spike activity during active movements was characterized by a contrast between the time phases before and after the movement onset. In most of the cases, where a phase of increased activity stopped at the movement onset, the sensory feed-back signal seen during passive movements was cancelled. The possible consequences of the convergence of the complex and simple spike signal for the motor control function of the cerebellum are discussed.