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(Circulation. 1999;100:299-304.)
© 1999 American Heart Association, Inc.
Basic Science Reports |
From the Department of Cardiovascular Dynamics, National Cardiovascular Center Research Institute, Osaka, Japan (T. Sato, T.K., T. Shishido, M.S., K.S.); and the Department of Biomedical Engineering, Vanderbilt University, Nashville, Tenn (J.A.).
Correspondence to Takayuki Sato, MD, Department of Cardiovascular Dynamics, National Cardiovascular Center Research Institute, Suita, Osaka 565-8565, Japan. E-mail tacsato{at}ri.ncvc.go.jp
| Abstract |
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Methods and ResultsOur prototype BBS for the rat consisted of a pressure sensor placed into the aortic arch, stimulation electrodes implanted into the greater splanchnic nerve, and a computer-driven neural stimulator. By a white noise approach for system identification, we first estimated the dynamic properties underlying the normal baroreflex control of systemic arterial pressure (SAP) and then determined how the BBS computer should operate in real time as the artificial vasomotor center to mimic the dynamic properties of the native baroreflex. The open-loop transfer function of the artificial vasomotor center was identified as a high-pass filter with a corner frequency of 0.1 Hz. We evaluated the performance of the BBS in response to rapid-progressive hypotension secondary to sudden sympathetic withdrawal evoked by the local imposition of a pressure step on carotid sinus baroreceptors in 16 anesthetized rats. Without the BBS, SAP rapidly fell by 49±8 mm Hg in 10 seconds. With the BBS placed on-line with real-time execution, the SAP fall was suppressed by 22±6 mm Hg at the nadir and by 16±5 mm Hg at the plateau. These effects were statistically indistinguishable from those of the native baroreflex system.
ConclusionsThese results suggest the feasibility of a BBS approach for central baroreflex failure.
Key Words: baroreceptors nervous system reflex blood pressure
| Introduction |
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Patients with neurological disorders such as Shy-Drager syndrome,5 6 7 8 baroreceptor deafferentation,9 10 and traumatic spinal cord injuries11 12 have central baroreflex failure and a severely impaired quality of life as a consequence. In Shy-Drager syndrome, idiopathic neurodegeneration affects the vasomotor center in the brain stem; however, peripheral sympathetic neurons are assumed to be relatively spared and able to release norepinephrine in response to excitatory outflow. Iatrogenic baroreceptor deafferentation could be induced by irradiation and surgical resection of head and neck tumors. In spinal cord injuries, sympathetic traffic to preganglionic neurons can be interrupted permanently. In either case, peripheral sympathetic neurons have the potential ability to release norepinephrine in response to direct electrical stimuli. Unfortunately, although various interventions such as salt loading,13 14 cardiac pacing,15 16 and adrenergic agonists17 18 have been attempted to treat orthostatic hypotension, most patients nevertheless remain bedridden for a long time. The reason for this unfortunate outcome is that such interventions can neither restore nor reproduce the functioning of the native vasomotor center. We proposed a novel therapeutic strategy against central baroreflex failure that has its basis in bionics and neurocardiology: functional replacement of the vasomotor center with a bionic baroreflex system (BBS). In the present study, we developed the BBS and tested its efficacy in a rat model of central baroreflex failure.
| Methods |
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SAP) from STM to SAP. Finally,
we determined the open-loop transfer function required for the
artificial vasomotor center of the BBS, that is,
HSAP
STM, by a simple process of division,
Hnative/HSTM
SAP. The
transfer function HSAP
STM represents
the operating rule characterizing quantitatively the dynamics of how
the artificial vasomotor center should operate in its stimulation of
the sympathetic vasomotor nerve to mimic the native baroreflex.
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Animals and Surgical Procedures
The care of animals was in strict accordance with the guiding
principles of the Physiological Society of Japan. A
total of 16 male Sprague-Dawley rats weighing 280 to 350 g were
used. The rat was first placed in a glass jar, where it breathed a
mixture of 2% halothane (Fluothane, Takeda Pharmaceuticals) in
oxygen-enriched air for 5 to 10 minutes. After induction
anesthesia, an endotracheal tube was introduced orally and
the rat was ventilated artificially by a volume-controlled rodent
respirator (model 683, Harvard Apparatus). In accordance
with Ono et al,21 anesthesia was maintained
through the use of 1.2% halothane during surgical procedures and 0.6%
halothane during data recording. Pancuronium bromide (0.8
mg · kg-1 ·
h-1 IV) was administered to eliminate
spontaneous muscle activity. Arterial blood gases were
monitored with a blood gas analyzer (IL-13064, Instrumentation
Laboratory). Polyethylene tubing (PE-10, Becton Dickinson) was inserted
into the right femoral vein. For the prevention of dehydration during
experiments, physiological saline was continuously
infused at a rate of 5 mL · kg-1 ·
h-1 with a syringe pump (CFV-3200, Nihon
Kohden). For measurement of SAP, a 2F catheter-tipped
micromanometer (SPC-320, Millar Instruments) was
placed in the aortic arch through the right femoral artery.
To open the feedback loop of the native baroreflex system, we isolated both carotid sinuses from the systemic circulation by our previous method.22 We cut the vagal and aortic depressor nerves bilaterally. Two short sections of polyethylene tubing (PE-50) were placed into both carotid sinuses and connected to a fluid-filled transducer (DX-200, Viggo-Spectramed) and to a servo-controlled pump system based on an electromagnetic shaker and linear power amplifier (ARB-126, AR Brown).
According to earlier findings that the abdominal splanchnic vascular bed innervated by the greater splanchnic nerve23 is a major effector mechanism for the arterial baroreflex in animals24 25 26 and humans,11 12 we selected this nerve as the sympathetic vasomotor nerve interface for the BBS. The left greater splanchnic nerve was identified, separated free, and cut at the level of the diaphragm with a retroperitoneal approach through a left flank incision. A pair of Teflon-coated platinum wires (7720, A-M Systems) was looped around and fixed on the distal end of the nerve. The implantation site of the wires was embedded in silicone rubber (Sil-Gel 604, Wacker). The free ends of the wires were connected to an isolated constant-voltage stimulator (SS-202J and SEN-7203, Nihon Kohden) controlled with a personal computer (PC-9801RA21, NEC). An analog-to-digital converter (AD12-16D98H, Contec) was built into the computer. Finally, the flank incision was closed in layers.
Data Recording for Estimation of
Hnative
To estimate the open-loop transfer function
Hnative, we randomly altered carotid sinus
pressure (CSP) between 100 to 120 mm Hg with a white bandwidth up
to 2 Hz by using the servo-controlled pump system. While the random
perturbation was given for an hour, the electrical signals of CSP and
SAP were first low-pass filtered with antialiasing filters having a
cutoff frequency of 50 Hz (-3 dB) and an attenuation slope of -80
dB · decade-1 (ASIP-0260L, Canopus) and
then digitized at a rate of 100 Hz by means of the analog-to-digital
converter.
Data Recording for Estimation of HSTM
SAP
To estimate the open-loop transfer function
HSTM
SAP, we randomly changed STM between 0 to
10 Hz with a white bandwidth up to 2 Hz while CSP was kept at a
constant pressure of 120 mm Hg. The pulse width of the stimulus
was fixed at 2 ms. The stimulation voltage was adjusted for each animal
to produce a pressor response of 40 mm Hg at 10 Hz. This resulted
in an average amplitude of 4.8±0.5 V (mean±SD). While the random
perturbation was given for 1 hour, STM and SAP were digitized at a rate
of 100 Hz.
Estimation of Transfer Function
The transfer function Hx
y from input
x to output y was estimated with a fast Fourier
transform algorithm.19 20 The digitized data of
x and y were resampled at 2 Hz after a moving
average to avoid aliasing. The time series of each datum was divided
into 50 segments of 256 points each, with 128 points of overlap between
segments. The length of each segment was 128 seconds in duration. To
suppress spectral leakage, we applied a Hann window to each segment and
then computed the raw autospectra of x and y and
the raw cross-spectrum between the two. To reduce an error in
estimating the spectrum, we calculated the ensemble average of 50 raw
spectra. Finally, we computed the transfer function over the frequency
range of 0.008 to 1 Hz with a resolution bandwidth of 0.008 Hz as
follows:
![]() |
y is, in general, a complex quantity
and is therefore expressible in polar form as
![]() |
y| and
x
y
are the gain and phase of the transfer function, respectively. The
squared coherence function, a measure of linear dependence between
x and y, was estimated with the following
equation:
![]() |
Implantation of HSAP
STM Into BBS
The open-loop transfer function required for the artificial
vasomotor center, HSAP
STM, was determined by a
simple process of division,
Hnative/HSTM
SAP. To make
the BBS computer operate in real time as the artificial vasomotor
center, we programmed the computer to automatically calculate
instantaneous STM in response to instantaneous SAP change according to
a convolution algorithm:19 20
![]() |
STM.
Efficacy of BBS
We evaluated the performance of the BBS in response to
rapid progressive hypotension secondary to sudden sympathetic
withdrawal. Sympathetic withdrawal was evoked by the imposition on
carotid sinus baroreceptors of a pressure step from 110 to 140
mm Hg. The pressure step was maintained for 30 seconds. The sudden
sympathetic withdrawal would be expected to produce relatively rapid
and progressive hypotension similar to orthostatic
hypotension in central baroreflex failure. While being in real time fed
into the BBS computer, SAP was recorded during the on-line
real-time execution of the BBS. SAP was also recorded while the BBS
was inactivated. For reference, we estimated the SAP
response under the closed-loop condition of the native baroreflex from
Hnative.
Statistical Analysis
The SAP responses to the sudden sympathetic withdrawal were
analyzed by a mixed model of ANOVA. A post hoc analysis
for multiple comparisons was performed by a Scheffé procedure.
Differences were considered significant at P<0.05. Values
are expressed as mean±SD.
| Results |
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2 that is fairly constant up to 0.1 Hz. Toward higher
frequencies, the gain decreased rapidly as a function of frequency. The
phase spectrum shows that the input-output relation was out of phase at
steady state and that the phase delay increased with frequency. The
squared coherence values were found to be close to unity, indicating
that the input-output relation was governed by nearly linear dynamics
and that the transfer function well described the input-output relation
in the frequency domain. Because the closed-loop gain4 is
given by 1/(1+|Hnative|), the native baroreflex system
in this case would be expected at steady state to suppress the effect
of an external disturbance in pressure to one-third the
magnitude of the disturbance after a significant transient
response. The SAP response to random electrical stimulation of the
greater splanchnic nerve also seemed to be sluggish (Figure 2C
SAP had low-pass characteristics with a
corner frequency of 0.1 Hz (Figure 2D
STM was determined by
Hnative/HSTM
SAP.
HSAP
STM is a high-pass filter with a corner
frequency of 0.1 Hz that essentially compensates for the relatively
faster gain attenuation in HSTM
SAP as compared
with Hnative (Figure 2E
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The significance of our investigation is most readily suggested by a
representative example in Figure 3A
, where we evaluated the
performance of the BBS in response to rapid progressive
hypotension secondary to sudden sympathetic withdrawal. Sensing the
rapid fall in SAP, the BBS automatically computed STM and appropriately
stimulated the sympathetic nerve to prevent SAP from falling >25% in
10 seconds. Figures 3B
and 3C
summarize results obtained for 16
rats, demonstrating effectiveness of BBS performance in
buffering SAP fall in response to sympathetic withdrawal. With normal
operation of the native baroreflex prevented and without bionic
compensation (no baroreflex), SAP fell by 49±8 mm Hg in
10
seconds in response to sympathetic withdrawal. However, with the BBS
placed on-line with real-time execution (bionic baroreflex), the SAP
fall was suppressed by 22±6 mm Hg at the nadir and by 16±5
mm Hg at the plateau. These effects were statistically
indistinguishable from those of the native baroreflex system.
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| Discussion |
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System Identification by White Noise Approach
To develop an artificial device for functional replacement
of a physiological system, we should clarify and
identify its function quantitatively. Therefore we described the native
arterial baroreflex control of SAP in terms of system
physiology by using the white noise technique. Compared with the
traditional approach of testing dynamic properties of the
physiological system with step and sine wave
stimuli, the white noise approach has definite advantages as
follows.19 First, if a step stimulus is applied, we learn
the response of the system to this step and have little notion of the
response of the system to any other type of stimulus. If a sinusoidal
pulse is applied, then we know the response of the system to such a
stimulus and little else. The same applies for any other specific
waveform. In the white noise approach, the system is tested with every
possible stimulus. The white noise stimulus is a very rich stimulus. It
should be emphasized that the white noise method is perfectly suited to
the analysis of linear systems. As shown in Figures 2B
and 2D
, high coherence values close to unity indicate the validity of
our method for system identification. Second, the identification of the
physiological system through the white noise
technique is largely unaffected by the types of contaminating noise
usually present in such a system. Our study provides the first and
quantitative description of the dynamic properties of the
arterial baroreflex control in rats.
Dynamic Characteristics of BBS
As shown in Figure 2E
, the artificial vasomotor center of
the BBS had a high-pass or derivative nature. Although the dynamic
characteristics from CSP to sympathetic vasomotor nerve activity in
rats have never been analyzed in the frequency domain, our
previous study27 characterized the transfer functions from
CSP to sympathetic nerve activity (mechanoneural arc) and from
sympathetic nerve activity to SAP (neuromechanical arc) in rabbits. The
high-pass characteristics of the mechanoneural arc up to 1 Hz
compensated for the low-pass characteristics of the neuromechanical arc
and thus we speculated that the native baroreflex would be optimized
and achieve its quickness and stability. Whereas effector organs in the
BBS were limited to the abdominal vascular bed innervated
by the greater splanchnic nerve, the high-pass characteristics of the
mechanoneural arc in the BBS, that is,
HSAP
STM, would contribute toward compensating
for the relatively sluggish response of the neuromechanical arc in the
BBS, that is, HSTM
SAP.
Clinical Implications
Two important challenges accompany the prospect of future
development of the BBS for central baroreflex failure: (1) Hardware
for clinical use is required, that is, a pressure sensor, an electrical
stimulator, and stimulating electrodes. (2) A standardized software
paradigm prescribing precisely how the bionic vasomotor center should
determine STM in response to changes in SAP must be established.
Fortunately, certain difficulties posed by these challenges have been
addressed in other areas of clinical practice to some degree and may be
readily adaptable for use with the BBS. For example, a
tonometer28 has been developed as a noninvasive continuous
monitor of SAP. Implantable pulse generators such as cardiac pacemakers
can serve as permanent electrical stimulators. Also, implantable wire
leads for nerve stimulation29 30 and epidural catheters
for percutaneous spinal stimulation31 32
have been approved for the long-term treatment of some neurological
disorders and for long-term therapy of pain control. Finally, inasmuch
as our present study establishes a solid framework for the
necessary software development to implement the approach, we
enthusiastically affirm not only that we can but that we should develop
the BBS as a new therapeutic modality for treatment of severe
orthostatic intolerance in central baroreflex failure such
as Shy-Drager syndrome, baroreceptor deafferentation, and traumatic
spinal cord injuries.
Study Limitations
In the present study, for the sake of simplicity, we cut
the vagal nerves bilaterally to exclude the vagally mediated effect on
the arterial baroreflex. The dynamic properties of the
arterial baroreflex may be different from the present
results when vagally mediated effects are present. Anesthetic
agents used in the present study could also affect the dynamic
properties of arterial baroreflex control of SAP. Although
we used a linear approach for estimating the dynamic properties of
arterial baroreflex, the nonlinear nature of the
arterial baroreflex system such as threshold and saturation
phenomena4 20 22 has been well known. Therefore our
results should be interpreted carefully. However, the fact that the
present framework enabled us to restore arterial
baroreflex function suggests that the linear approximation of the
central baroreflex arc is reasonable, at least under our experimental
conditions.
The vasomotor center of the arterial baroreflex33 is affected by higher-order centers such as the limbic-hypothalamic systems and receives various afferents from the periphery such as sympathetic afferent cardiac and splanchnic fibers.34 35 In the present study, we ignored these components. Thus further investigation concerning the effects of these components on the arterial baroreceptor reflex is needed for clarifying the native baroreflex and developing the truly "bionic" baroreflex system.
In summary, we proposed a novel therapeutic strategy against central baroreflex failure with the BBS. Our prototype of the BBS consisted of a pressure sensor, stimulation electrodes implanted into a peripheral sympathetic nerve, and a computer-driven neural stimulator. In rats, we first estimated the dynamic properties underlying the normal baroreflex control of arterial pressure. We then determined how the BBS computer should operate as the artificial vasomotor center to mimic the native baroreflex. The BBS could indeed reproduce the native baroreflex in a model of central baroreflex failure.
| Acknowledgments |
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Received October 26, 1998; revision received March 26, 1999; accepted April 9, 1999.
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