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1 Department of Biological Sciences, Northern Arizona University, Flagstaff, Arizona 86011-5640; 2 Division of Neurobiology, Physiology and Behavior, University of California, Davis, California 95616; and 3 Department of Physiology and Biophysics, State University of New York, Stony Brook, New York 11794-8661
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ABSTRACT |
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Avian intrapulmonary chemoreceptors (IPC) are vagal respiratory afferents that are inhibited by high lung PCO2 and excited by low lung PCO2. Previous work suggests that increased CO2 inhibits IPC by acidifying intracellular pH (pHi) and that pHi is determined by a kinetic balance between the rate of intracellular carbonic anhydrase-catalyzed CO2 hydration/dehydration and transmembrane extrusion of acids and/or bases by various exchangers. Here, the role of amiloride-sensitive Na+/H+ exchange (NHE) in the IPC CO2 response was tested by recording single-unit action potentials from IPC in anesthetized ducks, Anas platyrhynchos. For each of the IPC tested, blockade of the NHE using dimethyl amiloride (DMA) elicited a marked (>50%) dose-dependent decrease in mean IPC discharge (P < 0.05), suggesting that NHE is important for pHi regulation and CO2 transduction in IPC. In addition, activation of the NHE using 12-O-tetradecanoylphorbol 13-acetate stimulated six of the seven IPC tested, although the overall effect was not statistically significantly (P = 0.07). Taken together, these findings suggest that CO2 transduction in IPC is dependent on transmembrane NHE although it is likely to be much slower than carbonic anhydrase-catalyzed hydration-dehydration of CO2.
carbon dioxide chemosensitivity; intracellular pH regulation; respiratory control; neuron; acid; base
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INTRODUCTION |
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BIRDS HAVE INTRAPULMONARY chemoreceptors (IPC) that monitor lung PCO2 and exert reflex effects on the pattern of breathing (9, 15, 16, 36, 37, 43, 45). These IPC have afferent axons in the vagus nerves, cell bodies in the nodose ganglia, and sensory endings in the parabronchial tissue of the lungs (9, 25, 34). The action potential discharge of IPCs responds to both rapidly changing (i.e., phasic) and sustained (or tonic) levels of intrapulmonary PCO2, thereby encoding information about the temporal relationships between ventilation, perfusion, and metabolism (4, 9, 15, 16, 19, 24, 34). IPC sensory feedback helps terminate inspiration by sensing CO2 washout from the lung, helps maintain arterial homeostasis in response to moderate inspired hypercapnia (35, 37, 45), and helps adjust breathing to metabolic demands (4, 9, 19, 24, 50).
IPC are unusual respiratory chemoreceptors because their action potential discharge rate is inversely proportional to intrapulmonary PCO2. Low PCO2 stimulates IPC firing, and high PCO2 inhibits firing (9, 15, 16); thus the IPC response is backward compared with that of traditional respiratory chemoreceptors like the carotid bodies (18, 29), many presumptive central chemoreceptors (40), and snail pneumostome ganglia chemoreceptors (13, 14). Many presumptive chemoreceptor neurons located in the mammalian medullary raphe, however, have also been shown to be inhibited by high PCO2 (41, 54), as are reptilian IPC, mammalian pulmonary stretch receptors, and mammalian laryngeal CO2 chemoreceptors (10, 32, 39, 44). Thus the inverse CO2 response (discharge rate inhibited by high CO2) may be a common variant of respiratory chemosensitivity, just somewhat overlooked.
IPC, like some other chemoreceptors that are excited by decreasing
PCO2 levels, are critically dependent on
carbonic anhydrase (CA) activity for CO2 transduction
(11, 27, 38, 43, 44). Pharmacological inhibition of
intracellular CA with acetazolamide (but not extracellular CA with
benzolamide) abolishes avian IPC response to CO2 and causes
sustained high-frequency action potential discharge (27,
43). Under normal conditions, steady high-frequency discharge
occurs only if IPC are exposed to hypocapnia, suggesting that CA
inhibition mimics the effect of constant low
PCO2 and/or alkalinity. In contrast, when CA
inhibitors are given to traditional respiratory chemoreceptors, the
receptors remain normally responsive to tonic
PCO2 levels, but their response to phasic
PCO2 changes is attenuated, and their steady
discharge rate is increased as if they were seeing increased
PCO2 or acidity (11, 13, 29). Therefore, rapid CO2 hydration/dehydration is somehow
critical for CO2 chemotransduction in IPC but not in
traditional respiratory chemoreceptors. This suggests that IPC do not
sense CO2 directly but respond instead to one of the
products of its hydration reaction (CO2 + H2O
H+ + HCO
Our proposed model of CO2 chemoreception in IPC is shown in
Fig. 1 (27, 47). In the
model, CO2 is thought to diffuse freely across IPC sensory
endings, but H+ and HCO



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We began testing the model by blocking
HCO
transmembrane exchange with
DIDS and found that it modestly stimulated IPC discharge at all
CO2 levels (47). This is consistent with model
predictions because DIDS should cause intracellular
HCO

exchange is not the main
transmembrane acid/base regulating mechanism in IPC. In the present
study, the model was tested again. Here, the effect of the
Na+/H+ antiporter (NHE) on IPC
chemotransduction was tested. In vivo single-cell IPC responses to
CO2 were determined before and after administration of the
NHE blocker dimethyl amiloride (DMA) and before and after
administration of the NHE enhancer 12-O-tetradecanoylphorbol 13-acetate (TPA). We hypothesized that slowing or stopping any essential mechanism for H+ extrusion should cause
intracellular acidosis and depress IPC discharge.
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METHODS |
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General
All experiments were performed under a protocol approved by the Institutional Animal Care and Use Committee at Northern Arizona University in accordance with The American Physiological Society's "Guiding Principles for Research Involving Animals and Human Beings" (1). Sixteen mallard ducks, Anas platyrhynchos, aged 4-6 mo, body mass 1.0-1.4 kg, of either sex, were studied. Ducks were anesthetized to a deep surgical level (i.e., absence of withdrawal response to a strong toe pinch) by intravenous infusion of 35-40 mg/kg pentobarbital sodium. A polyethylene catheter was implanted in the left brachial vein for administration of supplemental dosages of pentobarbital sodium (3.5-5.0 mg/kg iv, as needed) and for administration of experimental drugs. Another polyethylene catheter was implanted in the brachial artery for monitoring arterial blood pressure and acid-base status. A thermistor probe was inserted 7-10 cm into the colon, and body temperature was regulated at 40 ± 1°C using a circulating hot water pad and hot water bottles.The thorax was opened with a midsternal incision, and the lungs were independently unidirectionally ventilated (8) through Foley catheters (7 Fr) inserted into the right and left primary bronchi. The inflatable cuffs of the catheters were positioned to occlude the ostia of the medioventral secondary bronchi. Each lung was then ventilated with 600 ml/min of air supplemented with 3% CO2. Gases were mixed and delivered by two Cameron Instruments GF-1 electronic mass flow controllers. A loose umbilical tape ligature was placed around the left pulmonary artery and fashioned into a snare. The snare could be tightened to occlude blood flow through the left lung and redirect all blood flow to the right lung, or loosened to allow blood flow through both lungs. The thorax was then draped in plastic wrap to conserve body heat and moisture.
The left vagus nerve was exposed in the neck, raised slightly on a black plastic dissecting stage, and bathed in a mineral oil pool. Single-unit recordings were made by dissecting fine filaments from the vagus nerve and placing them on a monopolar platinum-iridium electrode. Electrical activity in the filaments was referenced to an indifferent Ag-AgCl electrode on the nerve sheath through a high-impedance differential probe (Grass HIP). Action potentials were amplified with a Grass P511K AC preamplifier and AM-5 audio amplifier. Only single-unit recordings were accepted for study, and single units were identified by the constant amplitude and shape of their action potentials using a Haer slope/height window discriminator, which generated a digital pulse with each occurrence of a single-unit action potential. Interspike intervals and the overall discharge rates of IPC action potentials were timed using the digital pulses from the window discriminator and a Compupro S-100 8085/8088 microcomputer sampling at 14,500 Hz. Analog action potential signals were band pass-filtered between 100 and 3,000 Hz, visualized on an oscilloscope, and recorded on a Vetter 4 channel VHS tape system (using pulse code modulation). IPCs were identified by their nearly immediate response to step changes in ventilatory gas PCO2.
Normal IPC Response to CO2
We tested left vagal filaments for IPC activity while stepping left lung inspired CO2 between 0 and 5% (in air) at 11-s intervals. When an IPC was identified, we tightened the left pulmonary artery snare to shunt all pulmonary blood flow to the right lung, which provided gas exchange for the animal. In the absence of left lung blood flow, left lung PCO2 and therefore the intrapulmonary PCO2 stimulus delivered to the IPC were equal to the left lung inspired PCO2.The left lung inspired CO2 step was then turned off, left lung inspired CO2 was adjusted to a steady 1%, and the IPC discharge rate was allowed to stabilize (usually occurring in 1 or 2 min). Steady-state IPC discharge was then recorded on tape and computer. Inspired CO2 was increased by 1%, the receptor was allowed to stabilize, and steady-state discharge was again recorded. This was repeated until steady-state IPC responses to 1, 2, 3, 4, 5, 6, and 7% had been recorded. Duplicate recordings of IPC discharge were then made by returning to one or more CO2 levels and checking the discharge rates for reproducibility (±10%). IPC with nonreproducible responses to steady CO2 were not studied further. After establishing a normal IPC response to PCO2, left lung blood flow was restored by releasing the pulmonary artery snare.
IPC Response to CO2 After Blockade and Activation of the NHE
After a normal IPC response to PCO2 in air was measured, the effects of blockade or activation of the NHE on the IPC response to PCO2 were examined. DMA was used the to selectively block the NHE, and TPA was used to activate the NHE. TPA is an activator of protein kinase C (PKC), which has been shown to stimulate Na+/H+ antiport activity in some cells (5, 6, 21, 22, 48). Both DMA and TPA were obtained from Sigma Chemical. DMA was dissolved in distilled water and prepared fresh on the day of the experiment; TPA was initially dissolved in DMSO (1.2 µl/ml), brought to its final concentration by adding distilled water, and stored at
20°C. A vehicle solution
using the same concentration of DMSO was used in two experiments before
injection of TPA as a control for nonspecific effects on IPC discharge.
Eight animals were given DMA intravenously, and their IPC responses were retested using the same PCO2 stimuli as during control conditions. DMA dosages studied were 1 µmol/kg (n = 7 IPC), 3 µmol/kg (n = 8 IPC), and 8 µmol/kg (n = 5 IPC). The IPC response to the smallest dose was studied first (3 µmol/kg was the smallest dose in one case), and then additional (cumulative) dosages were given and studied. IPC usually responded to DMA injections rapidly, and within 5-10 min, their discharge rates were generally stable. Left lung blood flow was then redirected to the right lung with the pulmonary artery snare, and IPC responses to steady levels of PCO2 were recorded as described above. The pulmonary artery snare was then loosened, and the procedure was repeated for higher cumulative DMA dosages. Two-way ANOVA was used to test for main effects of CO2 level (treatment 1, 7 levels) and DMA dosage (treatment 2, 4 levels) on IPC discharge.
Seven animals were given TPA intravenously, and their IPC responses were retested using the same PCO2 stimuli as during control conditions. One or two dosages of TPA ranging from 14 to 60 nmol/kg were used in each animal studied. IPC usually responded to TPA injections within 1-3 min, after which they maintained a stable discharge rate. Left lung blood flow was then redirected to the right lung with the pulmonary artery snare, and IPC responses to steady levels of PCO2 were recorded as described above. Two-way ANOVA was used to test for main effects of CO2 level (treatment 1, 7 levels) and TPA dosage (treatment 2, 3 levels) on IPC discharge rate.
Regression Analysis
Logarithmic regressions of the form
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1), A is the determined slope parameter,
loge PCO2 is the natural logarithm of intrapulmonary PCO2
(Torr), and B is the determined intercept parameter. Mean
and SEs for the slope and intercept parameters were determined for the
various treatment conditions and compared with the normal condition
using t-tests, for which the criterion level of
P < 0.05 was considered significant.
Blood Acid-Base Analysis
Blood buffer curves were measured before and 30-60 min after administration of 8 µmol/kg DMA in three animals to test for possible metabolic acid-base disturbances in the extracellular fluid. Arterial PCO2 and pH were analyzed on a Cameron Instruments blood gas analyzer using modified Radiometer electrodes. Blood was sampled into 1-ml heparinized glass syringes from the brachial artery catheter while animals were ventilated with inspired CO2 values ranging from 1 to 7%. The blood-buffer relationships before and 30-90 min after DMA injection were quantified by regression of arterial pH on log10 PCO2. Slopes and intercepts of the regression equations obtained pre- and post-DMA were compared using t-tests, and P < 0.05 was considered significant.| |
RESULTS |
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Effects of DMA on IPC Response to CO2
In each of the animals tested, blockade of the NHE by intravenous injection of DMA depressed IPC discharge in a dose-dependent manner at each level of PCO2. Figure 2 shows an example of this dose-dependent relationship for one IPC studied at PCO2 levels of 5.4, 16.2, and 27.0 Torr. As expected, before administration of DMA (i.e., control), IPC discharge decreased in response to increasing PCO2. After administration of DMA, IPC discharge was reduced at each level of PCO2, with larger DMA dosages producing a greater reduction in the discharge rate. Although most IPC still responded to increased PCO2 with decreasing discharge rate after DMA administration, some IPC were silenced by the higher dosages of DMA regardless of the level of PCO2 (not shown).
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The mean CO2 responses measured after administration of DMA
at dosages of 1, 3, and 8 µmol/kg are shown in Fig.
3. IPC discharge rate was depressed in a
dose-dependent manner from normal (control). Two-way ANOVA revealed
significant effects of CO2 on IPC discharge (P < 0.0001), with significant inhibition of IPC
discharge frequency being observed at each DMA dosage examined (1 µmol/kg, P < 0.003; 3 µmol/kg, P < 0.0001; 8 µmol/kg, P < 0.0001). In addition,
there was a significant interaction between the effects of DMA and
CO2 (P < 0.05). Further, the average
magnitude of the slopes and intercepts of the logarithmic
stimulus-response regression equations were also smaller after
administration of DMA (Table 1).
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Effects of TPA on IPC Response to CO2
In six of the seven animals tested, activation of the NHE by intravenous injection of TPA produced a small increase in IPC discharge at some or all levels of PCO2. Figure 4 shows an example of one IPC studied before and after administration of 14 nmol/kg TPA at PCO2 levels of 16.2, 21.6, and 27.0 Torr. Both before (control) and after administration of TPA, IPC discharge decreased in response to increasing PCO2. After administration of TPA, in this example, an increase in IPC discharge at each level of PCO2 was seen. In general, in the six animals in which TPA increased IPC discharge, the increase in discharge rate ranged from approximately 2 to 40%, with discharge increasing to a greater extent at lower levels of PCO2.
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The mean CO2 responses measured after administration of TPA
showed a trend for increased IPC discharge rate relative to control, especially at lower levels of PCO2. The mean
IPC responses, however, were not significantly different from normal
(P > 0.18). Likewise, the average slopes and
intercepts of the logarithmic stimulus-response regression equations
were not significantly altered by TPA (Table 2) but trended toward increased
responsiveness to CO2 (P > 0.06). In
contrast to the small stimulatory effect elicited by TPA, IPC discharge
was unchanged or slightly reduced at each level of
PCO2 examined in response to injection of
vehicle solution containing DMSO.
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Blood-Buffer Curves
Figure 5 shows the blood-buffer relationships before and 30-90 min after administration of 8 µmol/kg DMA. The blood pH response to changing arterial PCO2 was not significantly changed by DMA treatment, indicating no significant metabolic alterations in extracellular pH over this time period. Parameters of the blood-buffer regression equations, pH = (slope) log10 PCO2 + intercept, for the curves shown in Fig. 5 are provided in Table 3.
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DISCUSSION |
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Critique of the Hypothesized "Balance" Between Catalyzed CO2 Hydration-Dehydration Rates and Transmembrane Acid-Base Exchanger Rates
Our model of IPC CO2 chemotransduction suggests that H+ production or loss by CO2 hydration/dehydration is balanced by transmembrane acid-base exchange. However, it is clear that the relative rates of CO2 hydration/dehydration (even uncatalyzed) far exceed those possible for antiport acid-base exchange (20). The hypothesized "balance" then is actually a kinetic mismatch, which is probably critical for CO2 chemotransduction in IPC. If the rates of H+ production and H+ extrusion were exactly matched in magnitude at all PCO2 values, pHi would probably change little with PCO2. Thus a kinetic mismatch between H+ production and extrusion is required to generate a pHi signal for transduction of the PCO2 stimulus. Our mathematical modeling of this relationship indicates that a CO2 hydration/dehydration rate that is 100- to 1,000-fold faster than the acid-base transmembrane exchange rate gives phasic and tonic IPC responses to PCO2 that closely simulate experimental observations (26).Modulation of Activity of the NHE
DMA. In the current experiments, DMA (a selective blocker of the NHE) strongly inhibited, in a dose-dependent manner, action potential discharge in all IPC studied and reduced the slope and intercept of the IPC stimulus-response relationships to PCO2. In addition, a specific effect of DMA on IPC CO2 sensitivity was suggested by the significant interaction between DMA and CO2 on IPC discharge rate in the two-way ANOVA.
In several IPC, the highest dosages of DMA completely inhibited discharge, but on average IPC showed an attenuated response to CO2 after NHE blockade. The largest attenuation of discharge rates occurred when IPC were exposed to the lowest levels of PCO2, hence the significantly reduced slope and intercept of the IPC stimulus-response lines (see Fig. 3), and the significant CO2-DMA interaction in the ANOVA. One possible explanation for this finding is that DMA inhibition of NHE produced the greatest relative acidotic shift in pHi when PCO2 levels were lowest. Other CO2 chemoreceptor cells have NHEs that are inhibited by extracellular acidosis (14, 40, 42), and hypercapnia-induced extracellular acidosis may similarly inhibit NHEs in IPC. If so, IPC may be less sensitive to DMA inhibition in hypercapnia if their NHEs are already depressed by extracellular acidosis, and IPC may be more sensitive to DMA inhibition in hypocapnia because their NHEs may be operating more freely due to extracellular alkalosis. Another possible explanation for the larger inhibitory effect at low PCO2 is that the pHi change is larger for equimolar changes in H+ concentration under alkalotic conditions compared with acidotic conditions due to the logarithmic nature of the pH relationship. For example, [H+] increasing from 35 to 40 nM (a relative intracellular alkalosis) causes a
pH of
0.058, but
[H+] increasing from 75 to 80 nM (a relative
intracellular acidosis) causes a
pH =
0.028. Thus, even if
DMA inhibited H+ transport by the same amount during
hypercapnia and hypocapnia, the relative effect on pHi
would be greater in hypocapnia due to its associated alkalosis.
It should be noted, however, that chronic blockade of NHE via
administration of amiloride for many hours or days can cause metabolic
acidosis due to inhibitory effects on NHE in renal tubular epithelia
(28). Because extracellular metabolic acidosis would clearly complicate the interpretation of the DMA-induced effects on
IPC, our experimental design focused on the acute effects of DMA that
started within seconds after intravenous DMA infusion and reached a
steady state after 5-10 min. Further, no changes were observed in
systemic blood-buffer relationships, and no evidence of metabolic
acidosis or base deficit was detected even at 90 min (i.e., the maximum
duration of our experiments) after DMA infusion (see Fig. 5). This
supports the conclusion that the large changes in IPC response produced
by DMA were not due to changes in extracellular pH but rather to direct
effects of DMA on acid extrusion in IPC sensory endings.
It should also be noted that in our present investigation, DMA was used
rather than its parent compound amiloride. DMA is a potent and specific
blocker of NHE (31, 51), whereas amiloride is a less
specific blocker (23, 31, 33). Further, the concentration of amiloride that is required to inhibit NHE activity has also been
reported to inhibit epithelial Na+ channels,
Na+/Ca2+ exchange,
Na+/K+-ATPase, and a number of kinases
(6, 12, 31, 46, 49, 51). Because DMA has not been
demonstrated to exert similar nonspecific (i.e., "non-NHE" related)
effects, we believe that the DMA-induced effects on IPC discharge
observed in the present study were mediated by blockade of NHE. The
data from the present study, however, provide no insight into which of
the five isoforms of the NHE identified (reviewed by Ref.
40) were present in IPC or to the contribution of any of
these isoforms to our current findings because DMA is an effective
inhibitor of most NHE isoforms.
TPA.
Phorbol esters are activators of PKC and stimulate amiloride-sensitive
NHE and intracellular alkalization in many cells, including vascular
smooth muscle, rat renal epithelial cells, rat parotid gland, HL-60
cultured cells, human neutrophils, rat smooth muscle, chicken skeletal
muscle, Swiss 3T3 cultured cells, A431 cultured human fibroblasts, and
others (21-23). We hypothesized that the phorbol
ester TPA would stimulate NHE in IPC and cause intracellular alkalization and increased IPC discharge rate. The increases in mean IPC response to CO2 induced by TPA were not
significant (0.6
P
0.18), suggesting that TPA is
not a powerful stimulant of NHE for the average IPC. However, no IPC
were inhibited by TPA and several were markedly stimulated, which also
suggests a wide variation in individual IPC responses.
Comparison to Other CO2 Chemoreceptors
IPC differ in several ways from traditional CO2-stimulated respiratory chemoreceptors in the mammalian brain stem, mammalian and avian carotid body, and pulmonate ganglion of Helix aspersa. For example, traditional chemoreceptors increase excitability as PCO2 increases, but IPC decrease excitability as PCO2 increases (14, 18, 29, 40-42). Traditional chemoreceptors continue to respond to PCO2 after CA inhibition by acetazolamide, and they are mildly stimulated because CA inhibition causes an extracellular acidosis (11, 13, 29). In contrast IPC do not respond to PCO2 after CA inhibition by acetazolamide, and their discharge is strongly stimulated, perhaps because CA inhibition results in intracellular alkalosis (27, 43).IPC are also similar in some ways to traditional CO2-stimulated respiratory chemoreceptors. For example, pHi rather than CO2 per se seems to be the sensed physiological variable in both traditional chemoreceptors and IPC (3, 17, 27, 52, 53). Traditional chemoreceptors in the mammalian medulla, carotid body, and in Helix aspersa use NHE as an important acid-base regulator. Furthermore, these traditional chemoreceptors show attenuated pHi recovery during a normal hypercapnic stimulus because their NHEs are inhibited by extracellular acidosis (7, 14, 40, 42). Recently, inhibition of the NHE-3 isoform with the selective blocker S8218 has been shown to increase the mammalian central CO2 ventilatory response and lower the apneic threshold, suggesting an important function of NHE-3 in mammalian CO2 sensing (30). Avian IPC also appear to rely on NHEs for their inverse response to CO2 stimuli as demonstrated in the current investigation. DMA, an amiloride analog, caused profound inhibition of IPC CO2 chemotransduction; however, it was not possible to determine the specific NHE isoform from our results. DMA also caused a smaller absolute reduction in IPC discharge rate when IPC were transducing high PCO2 compared with low PCO2 (see Fig. 2). Perhaps NHE in IPC, like NHE in traditional respiratory chemoreceptors, are inhibited by the hypercapnia-induced extracellular acidosis, and therefore the effect of further inhibition of the NHE by DMA is smallest at high PCO2.
Perspectives
Respiratory CO2 chemosensitivity is important for pH and metabolic homeostasis in active air-breathing animals, and CO2 chemosensitivity seems to have evolved many times in different forms (14). These forms include the intrapulmonary chemoreceptors studied here, brain stem and peripheral arterial chemoreceptors of vertebrates, nasal and upper airway chemoreceptors in reptiles, amphibians, and mammals, and pneumostome ganglia chemoreceptors in pulmonate snails. Experimental evidence suggests that inverse CO2 sensitivity involves differences in CO2 signal transduction that set IPC apart from traditional CO2-stimulated respiratory chemoreceptors although some similarities also exist. These differences may be a product of evolutionary pressures to produce a rapid, positive response to decreasing intrapulmonary CO2 levels.| |
ACKNOWLEDGEMENTS |
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We thank L. Hempleman for technical assistance, and students K. Wallace, C. King, and P. Morgan for help with blood gas analysis.
This work was supported by National Science Foundation Grant 9723783 and National Institutes of Health Grant GM-56931.
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FOOTNOTES |
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Address for reprint requests and other correspondence: S. C. Hempleman, Dept. of Biological Sciences, Box 5640, Northern Arizona Univ., Flagstaff, AZ 86011-5640 (E-mail: Steven.Hempleman{at}nau.edu).
The costs of publication of this article were defrayed in part by the payment of page charges. The article must therefore be hereby marked "advertisement" in accordance with 18 U.S.C. Section 1734 solely to indicate this fact.
First published February 20, 2003;10.1152/ajpregu.00519.2002
Received 27 August 2002; accepted in final form 18 February 2003.
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