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(Circulation. 2002;106:730.)
© 2002 American Heart Association, Inc.
Basic Science Reports |
From the Department of Cardiovascular Dynamics (T.S., T.K., M.S., K.S.), National Cardiovascular Center Research Institute, Suita, Japan; and the Department of Cardiovascular Control (T.S.), Kochi Medical School, Nankoku, Japan.
Correspondence to Dr Takayuki Sato, Department of Cardiovascular Control, Kochi Medical School, Nankoku, Kochi 783-8505, Japan. E-mail tacsato-kochimed{at}umin.ac.jp
| Abstract |
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Methods and Results The bionic baroreflex system (BBS) was a negative feedback system controlled by a computer, the artificial vasomotor center. It sensed systemic arterial pressure (SAP) through a micromanometer placed in the aortic arch and automatically computed the frequency of a pulse train to stimulate sympathetic efferent nerves. We selected the celiac ganglion as the sympathetic vasomotor interface. To make this system bionic, the operational rule of the artificial vasomotor center (HBRP
STM; BRP indicates baroreceptor pressure; STM, electrical stimulation) was actively matched to that of the native center. First, we identified the open-loop transfer functions of the native baroreflex control of SAP (HNative) and the response of SAP to electrical stimulation of the celiac ganglion (HSTM
SAP). We computed HBRP
STM from HNative/HSTM
SAP and transplanted the operational rule into the computer. In 10 rats with baroreflex failure, we evaluated the performance of the BBS during rapid hypotension induced by HUT. Abrupt HUT dropped SAP by 34±6 mm Hg in 2 seconds and by 52±5 mm Hg in 10 seconds. During real-time execution of the BBS, on the other hand, the fall in SAP was 21±5 mm Hg at 2 seconds and 15±6 mm Hg at 10 seconds after HUT. These arterial responses controlled by the BBS were indistinguishable from those by the native baroreflex.
Conclusions We concluded that the BBS revitalized the native baroreflex function in rats with baroreflex failure.
Key Words: baroreceptors blood pressure dynamics electrical stimulation nervous system, sympathetic
| Introduction |
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Neurological disorders such as Shy-Drager syndrome,710 baroreceptor deafferentation,11,12 and traumatic spinal cord injuries13,14 result in 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. In spinal cord injuries, sympathetic traffic to preganglionic neurons can be interrupted permanently. In either case, peripheral sympathetic neurons have the ability to release norepinephrine in response to direct electrical stimuli.10 Unfortunately, although various interventions such as salt loading,15,16 cardiac pacing,17,18 and adrenergic agonists19,20 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.
In our previous study,21 we developed a framework for identifying an operational rule of the vasomotor center and a prototype of a bionic baroreflex system in rats. The bionic system is an artificial device for functional replacement of a physiological system able to mimic its static and dynamic characteristics. The objective of the present study is to evaluate the efficacy of our bionic system in an animal model of central baroreflex failure.
| Methods |
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On the other hand, in the bionic baroreflex system (BBS), BRP is sensed by a catheter-tipped micromanometer placed in the aortic arch and fed into a computer that functions as an artificial vasomotor center. On the basis of measured changes in SAP, the artificial vasomotor center executes real-time operations that determine the frequency of electrical stimulation (STM) necessary for compensatory adjustment of SAP to the desired level and then commands an electrical stimulator to provide a stimulus of the same frequency to the vasomotor sympathetic nerves. To enable the BBS to effectively mimic the functioning of the native baroreflex system, it is necessary to identify quantitatively the operating rule that underlies native baroreflex function and to implant it into the BBS. According to the following procedures (Figure 1B), we can identify the transfer function of HNative.
We first analyze under open-loop conditions the BRP-SAP dynamic properties characterizing HNative by using a white-noise identification method. Next, we identify the open-loop transfer function (HSTM
SAP) from STM to SAP. The determination of HSTM
SAP enables us by a simple process of division, HNative/HSTM
SAP, to calculate the open-loop transfer function required for the artificial vasomotor center of the BBS, that is, HBRP
STM. The transfer function HBRP
STM represents the operating rule characterizing quantitatively the dynamics of how the artificial vasomotor center should operate in its stimulation of the vasomotor sympathetic nerves to mimic the native baroreflex.
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 10 male Sprague-Dawley rats (SLC, Hamamatsu, Japan) weighing 280 to 350 g were used. The rat was ventilated artificially by means of a volume-controlled rodent respirator (model 683, Harvard Apparatus) at 80 strokes per minute. Anesthesia was maintained through the use of 1.2% halothane during surgical procedures and 0.6% halothane during data recording. Polyethylene tubings (PE-10, Becton Dickinson) were inserted into the right femoral vein and the left common carotid artery. Pancuronium bromide (0.8 mg/kg per hour IV) was administered to eliminate spontaneous muscle activity. Arterial blood gases were monitored with a blood gas analyzer. For the prevention of dehydration during experiments, physiological saline was continuously infused at a rate of 5 mL/kg per hour with a syringe pump. For measurement of SAP, a 2-F 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 arterial baroreflex system, we cut the vagi and the aortic depressor nerves and isolated the carotid sinus baroreceptor regions by the embolization method.24 Two short polyethylene tubings (PE-50) were placed into both carotid sinuses and connected to a fluid-filled transducer (DX-200, Viggo-Spectramed) and to a custom-made servo-controlled pump system. We used the servo-controlled pump to impose various pressures on carotid sinus baroreceptor regions.6
We selected the celiac ganglion25 as the vasomotor sympathetic nerve interface for the BBS because the abdominal splanchnic vascular bed innervated by the ganglion has been shown to be a major effector mechanism for the arterial baroreflex.26,27 The left greater splanchnic nerve was identified, separated free, and cut at the level of the diaphragm 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. The free ends of the wires were connected to an isolated constant-voltage stimulator (SS-202J and SEN-7203, Nihon Kohden) controlled with a dedicated laboratory computer (PC-9801RA21, NEC). 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 BRP 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 BRP and SAP were first low-passfiltered with antialiasing filters having a cutoff frequency of 50 Hz (-3 dB) and an attenuation slope of -80 dB per decade and then digitized at a rate of 100 Hz by means of an 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 white noise with a bandwidth up to 2 Hz while BRP 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 4.2±0.3 (mean±SD) V. 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.22,23,28 The digitized data of x and y were resampled at 2 Hz after a moving average to avoid aliasing. The time series of each data were divided into 50 segments of 256 points each, with 128 points of overlap between segments. 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 as follows:
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where Sxx is the ensembled autospectrum of x and Sxy is the ensembled cross spectrum of x and y. Hx
y is, in general, a complex quantity and is therefore expressible in polar form as
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where j2=-1, and ||Hx
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:
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where Syy is the ensembled autospectrum of y.
Implantation of HBRP
STM Into BBS
The open-loop transfer function required for the artificial vasomotor center, HBRP
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 BRP change according to a convolution algorithm22:
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where h(t) is an impulse response function computed by an inverse Fourier transform of HBRP
STM.
Head-Up Tilt Tests
We restrained the rat on a custom-made tilt table. To evaluate the efficacy of the BBS against orthostatic hypotension caused by central baroreflex failure, we measured SAP responses of each rat to head-up tilting (HUT) under 3 experimental conditions. For each animal, 3 trials of measurement under each condition were made in random order.
First, to mimic orthostatic hypotension in central baroreflex failure, we kept BRP constant at the same level as SAP in a supine position before and after HUT. We referred to this condition as the model of central baroreflex failure.
Second, to observe the effect of native baroreflex function, we closed the native baroreflex loop. The laboratory computer in real time commanded the power amplifier to make carotid sinus BRP identical with SAP by means of a digital-to-analog converter while digitizing SAP at a rate of 2 kHz through the analog-to-digital converter.
Third, to evaluate the efficacy of the BBS, we activated the BBS in the model of central baroreflex failure.
Statistical Analysis
The SAP responses to head-up tilt tests 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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STM for 10 rats. The gain gradually increased
2-fold with input frequencies. The phase spectrum showed that the input-output relation was out of phase. These characteristics were also expressed in the time-domain analysis (Figure 2B). The initial overshoot response to unit step input was found.
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A representative example of the results of head-up tests showed the performance of the BBS (Figure 3). While BRP was kept constant at the same level of supine SAP, HUT produced a rapid progressive fall in SAP by 40 mm Hg in only 2 seconds. By contrast, while the BBS was activated, it automatically computed STM and appropriately stimulated the sympathetic nerves to quickly and effectively attenuate the SAP drop, as if the native baroreflex function had been restored almost perfectly. In addition, the BBS automatically mimicked the low-frequency oscillation of SAP by the oscillatory change at
4 seconds in STM.
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Figure 4 summarizes the results obtained from 10 rats, demonstrating effectiveness of the BBS performance in buffering SAP fall in response to HUT. In the model of central baroreflex failure, HUT produced a rapid progressive hypotension. However, while the BBS was activated, the time courses of the SAP responses were found to be similar to those of the native baroreflex system (Figure 4A). To make a statistical comparison of the SAP responses under the three experimental conditions, we analyzed the SAP changes before and at 2 and 10 seconds after HUT. In the model of central baroreflex failure, abrupt HUT reduced SAP by 34±6 mm Hg in 2 seconds and by 52±5 mm Hg in 10 seconds (Figure 4B). During real-time execution of the BBS, on the other hand, the fall in SAP was 21±5 mm Hg at 2 seconds and 15±6 mm Hg at 10 seconds after HUT. Such an SAP response to HUT during the real-time execution of the BBS was statistically indistinguishable from that during functioning of the native baroreflex.
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| Discussion |
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Our previous study6 revealed that the effectiveness of baroreflex in attenuation of the effect of external disturbance depends on the operating point of the baroreflex system before the disturbance. Therefore, it would be difficult to evaluate the open-loop gain of the baroreflex system for attenuation of the effect of HUT on SAP by open-loop approaches such as baroreceptor deafferentation and autonomic blockade. Because baroreceptor deafferentation elevates and autonomic blockade lowers the baseline level of SAP at supine, the operating point of the baroreflex system could deviate from a physiological range. On the other hand, in the present study, the predisturbance operating point was kept at the equal level between open-loop and closed-loop conditions. From Figure 4B and the following equation, the open-loop gain G was estimated to be
2.5.
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where
SAPopen and
SAPclosed are the SAP changes produced by HUT under open-loop and closed-loop conditions, respectively. The estimate of the open-loop gain for attenuation of the effect of HUT on SAP was consistent with our previous results6,24 of the maximum gain estimated from the BRP-SAP relation under the open-loop conditions. Therefore, the present study supports our previous conclusion6 that the arterial baroreflex functioning in a supine position is optimized in terms of gain and displays its best ability to stabilize arterial pressure against an external disturbance.
A recent study by Furlan et al29 indicated that low-frequency (
0.1 Hz) oscillatory patterns of sympathetic neural discharge and SAP are enhanced during HUT in humans. The low-frequency oscillations at 0.2 to 0.6 Hz in rats is known to correspond to those at 0.1 Hz in humans.30 Interestingly, as shown in Figure 3, oscillatory changes at 0.25 Hz were found in STM and SAP during bionic baroreflex as well as in SAP during native baroreflex but not in SAP during no baroreflex. Therefore, the baroreflex feedback mechanism would be important in the genesis of such a physiological oscillation of SAP at the low frequency. To clarify a detailed mechanism for the genesis of the low-frequency oscillation of SAP, however, more systematic and quantitative studies are needed.
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, for example, 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 needs to be established. Fortunately, certain difficulties posed by these challenges have already been addressed in other areas of clinical practice to some degree and may be readily adaptable for use with the BBS. For example, a tonometer31 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 stimulation32 and epidural catheters33 for spinal stimulation have been approved for the long-term treatment of some neurological disorders and for the chronic therapy of pain control. Finally, we could confirm the efficacy of the BBS even though the present data were obtained from experimental animals and therefore 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 in future.
Limitations
The vasomotor center of the arterial baroreflex is affected by other autonomic centers such as respiratory centers and higher-order centers such as the limbic-hypothalamic systems and also receives various afferents such as cardiopulmonary receptors.34 Anesthetic agents used in the present study and artificial ventilation could also affect the dynamic properties of arterial baroreflex. In the present study, we ignored these effects. Thus, further investigation is needed for clarifying the native baroreflex function and developing the truly "bionic" baroreflex system.
| Acknowledgments |
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Received March 13, 2002; revision received May 8, 2002; accepted May 9, 2002.
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