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Computational biology in the study of cardiac ion channels and cell electrophysiology Cardiac Bioelectricity & Arrhythmia Center and the Department of Biomedical Engineering, Washington University in St. Louis, MO, USA * Author for correspondence: Dr Y. Rudy, Cardiac Bioelectricity & Arrhythmia Center and the Department of Biomedical Engineering, Washington University in St. Louis, Whitaker Hall, 1 Brookings Dr., St. Louis, MO, 63130-4899, USA. Tel.: (314) 935-8160; Fax: (314) 935-8168; E-mail: rudy/at/wustl.edu The publisher's final edited version of this article is available at Q Rev Biophys. See other articles in PMC that cite the published article.Abstract The cardiac cell is a complex biological system where various processes interact to generate electrical excitation (the action potential, AP) and contraction. During AP generation, membrane ion channels interact nonlinearly with dynamically changing ionic concentrations and varying transmembrane voltage, and are subject to regulatory processes. In recent years, a large body of knowledge has accumulated on the molecular structure of cardiac ion channels, their function, and their modification by genetic mutations that are associated with cardiac arrhythmias and sudden death. However, ion channels are typically studied in isolation (in expression systems or isolated membrane patches), away from the physiological environment of the cell where they interact to generate the AP. A major challenge remains the integration of ion-channel properties into the functioning, complex and highly interactive cell system, with the objective to relate molecular-level processes and their modification by disease to whole-cell function and clinical phenotype. In this article we describe how computational biology can be used to achieve such integration. We explain how mathematical (Markov) models of ion-channel kinetics are incorporated into integrated models of cardiac cells to compute the AP. We provide examples of mathematical (computer) simulations of physiological and pathological phenomena, including AP adaptation to changes in heart rate, genetic mutations in SCN5A and HERG genes that are associated with fatal cardiac arrhythmias, and effects of the CaMKII regulatory pathway and β-adrenergic cascade on the cell electrophysiological function. 1. Prologue
Cardiac muscle can generate propagating electrical impulses (action potentials), a property that classifies it as an excitable tissue similar to skeletal muscle and nerve. At the single-cell level, the electrical action potential (AP) triggers mechanical contraction by inducing a transient rise of intracellular calcium which, in turn, carries the contraction message to the contractile proteins of the cell. This process that couples electrical excitation to mechanical function is termed excitation-contraction coupling. APs are generated by individual cells and are conducted from cell to cell through intercellular gap junctions, forming waves of excitation that activate and synchronize the blood pumping action of the heart. Similar to nerve and skeletal muscle, AP initiation and conduction in cardiac ventricular tissue rely mostly on a single membrane process, namely the flow of sodium ions through sodium-specific ion channels. However, unlike the short-duration APs of skeletal muscle and nerve, the cardiac ventricular AP is characterized by long plateau and repolarization phases that prevent premature arrhythmogenic excitation and provide control of mechanical contraction. In contrast to the ‘single-current mechanism’ of AP initiation, the plateau and repolarization phases rely on multiple ionic processes that provide precise control of the AP time-course and duration. In the cell, membrane ion channels interact with dynamically changing ionic concentrations and varying transmembrane voltage, and are subject to various regulatory processes. These interactions are nonlinear, making the single cardiac cell a complex interactive system where a high degree of synthesis and integration occurs. Because our intuition is mostly ‘linear’, our ability to predict the outcome of these multiple nonlinear processes and to elucidate the underlying mechanisms is very limited. Analysis and synthesis of such complex nonlinear systems require mathematical approaches similar to those applied in other fields of science, notably physics and engineering. In the last decade major advances were made in our ability to identify genetic mutations and link them to clinical disease phenotypes. A large body of knowledge has accumulated on the molecular structure of cardiac ion channels, their kinetic properties as related to this structure, and the modification of the structure/function by genetic defects that are associated with cardiac arrhythmias (Schwartz et al. 1995; Keating & Sanguinetti, 1996; Brugada et al. 1998; Priori et al. 1999a, b; Clancy & Kass, 2005; Nerbonne & Kass, 2005). Most of these data were obtained in expression systems (e.g. Xenopus oocyte, HEK cells) and isolated membrane patches, away from the physiological environment of the cardiac cell where the ion channels interact to generate the AP. A major challenge for the next decade and beyond is the integration of this information into the functioning cardiac cell and tissue in order to relate molecular-level processes and their modification by disease to whole-cell function and cardiac excitation. In this review, we describe how computational biology approaches can be used to achieve this goal. Specifically, we use mathematical models of cardiac ion channels and cells to link molecular processes that underlie ion-channel function to the electrical activity of the whole cell. Simulations include normal functioning of cardiac cells in response to changes in heart rate (AP rate-adaptation) and altered cellular phenotypes due to ion-channel mutations. Simulating mutations and molecular interactions requires the formulation of single-channel models that represent specific channel states (e.g. open, closed, inactivated) and their interdependencies, and incorporation of these models into the model of the whole cell. This single-channel-based approach constitutes a major departure from the Hodgkin–Huxley scheme developed for the squid axon (Hodgkin & Huxley, 1952) and adopted in many cardiac cell models, where the starting point for computing the AP is macroscopic ionic currents through large ensembles of ion channels. Finally, two recent examples are described, demonstrating how regulatory pathways (the CaMKII pathway and the β-adrenergic cascade) can be incorporated into integrative mathematical models of the whole cell. 2. The Hodgkin–Huxley formalism for computing the action potential 2.1 The axon action potential model The first computational model of the AP was formulated by Hodgkin and Huxley for the axon. Their circuit model of the cell membrane remains the basis for many modern neuronal and cardiac AP models, so we begin with a brief description of their work. In collaboration with Katz, Hodgkin and Huxley made a fundamental stride in characterizing voltage-dependent conductance changes in excitable cells by applying the voltage-clamp technique to the nerve axon (Hodgkin et al. 1952). These experiments suggested that inward movement of Na+ is responsible for the strong positive deflection observed in intracellular recordings of the membrane potential, Vm, upon depolarization (Hodgkin & Huxley, 1939), while outward flow of K+ causes repolarization to the resting, hyperpolarized state. Intrigued by these results, Hodgkin and Huxley constructed a mathematical model to test whether these fluxes could generate the AP morphology that they had recorded (Hodgkin & Huxley, 1952). The framework for this model is described by the circuit diagram in Fig. 1a
where Cm is the membrane capacitance (μF/cm2) and Iion is the total transmembrane ionic current (μA/cm2). This equation assumes space-clamp conditions and absence of external stimulus. Cell capacitance per unit area of membrane and current densities are typically used to calculate Vm, to normalize for variability in cell size. For the axon model Iion is the sum of three currents: INa, which represents the depolarizing sodium current, IK that accounts for the repolarizing K+ current and IL, a leakage current. The driving force for INa and IK is generated by transmembrane Na+ and K+ concentration gradients, and its magnitude is the difference between Vm and the equilibrium potential, which is computed using the Nernst equation (Plonsey & Barr, 2000). For example, the Na+ equilibrium potential, ENa, is found with the following Nernst equation: where ENa is the equilibrium potential for Na+ (mV), R is the gas constant [J · (kmol · K)−1], T is the temperature (K), F is Faraday’s constant (C · mol−1), and [Na+]i and [Na+]o are the intracellular and extracellular Na+ concentrations (mM). Once the driving force is known, the current is calculated using Ohm’s law. For example, the equation for INa is where INa is the transmembrane Na+ current (μA/cm2) and gNa is the Na+ conductance (mS/cm2). Hodgkin and Huxley computed the conductance for each current as a function of the open probability of a series of hypothetical gates and the maximum conductance of the membrane for each ion species. The gates provide the voltage and time dependence of the conductance, and the maximum conductance is simply the conductance when all gates are open. Each gate can go through a first-order voltage-dependent transition from a closed to an open position or from an open to a closed position at a rate that is independent of the positions of all other gates. An ion can pass through the gate only in its open position. Na+ current activation (increasing conductance) is accurately modeled by three identical activation gates that move from closed to open positions at depolarized Vm. The open probability of the activation gate is typically assigned the variable m that ranges from 0 (all gates closed) to 1 (all gates open), and the time-dependent change in m is described by the following first-order differential equation: where m and (1−m) are the gate open and closed probabilities, t is time (ms), and α and β are Vm-dependent opening and closing transition rates (ms−1). Since the transitions are assumed to be independent, the probability that all three gates are open is m3. At positive Vm all three gates transition rapidly (within milliseconds even at 6–7 °C, Fig. 1b The voltage-clamp recordings (Fig. 1b where
The equations that describe IK are similar, with the driving force dependent on the transmembrane K+ gradient, which causes the current to be outward. The other significant difference is in the gating; no inactivation is observed and activation is more sigmoidal (Fig. 1c where IK is current (μA/cm2),
For completeness, there is also a leakage conductance, which was incorporated to account for current not carried by INa or IK. This conductance is assumed constant and does not vary with time or Vm. The leakage current, IL, has the following formulation: where
Hodgkin and Huxley were successful in reproducing the axonal AP morphology under a variety of conditions with this surprisingly simple and elegant model. However, the actual mechanism that produced the voltage- and time-dependent gating in the axon still remained undiscovered. Over the following decades, the ion channel was established as the protein structure that provides the pathway for ion flow across the membrane, and detailed genetic, structural and electrophysiological description of ion channels has been published (for review see Hille, 2001). 2.2 Cardiac action potential models The first cardiac AP models were formulated by McAllister et al. (1975), of the Purkinje fiber, and Beeler & Reuter (1977), of the ventricular myocyte. These models relied on the Hodgkin–Huxley formalism to describe the ionic currents, and similar to the Hodgkin–Huxley model assumed that intracellular ion concentrations ([Na+]i, [K+]i) remain constant during the AP. However, in cardiac myocytes, entry of Ca2+ through ICa(L), the L-type calcium channel, causes a dramatic change in its intracellular concentration, mostly by triggering Ca2+ release from the sarcoplasmic reticulum (SR) via the calcium-induced calcium-release (CICR) process (Fabiato, 1992). Incorporation of dynamic changes in [Ca2+]i was necessary to reproduce AP morphology even in the earliest ventricular cell models (e.g. the Beeler–Reuter model) (Beeler & Reuter, 1977). Changes in [Na+]i and [K+]i can also influence AP morphology over time if cells are paced at fast rate. The first model to incorporate detailed information regarding dynamic concentration changes of these ions during the AP was the DiFrancesco–Noble model of the Purkinje fiber AP (DiFrancesco & Noble, 1985). Rasmusson et al. (1990) developed a similar model for a bullfrog atrial cell. The Luo–Rudy dynamic (LRd) model of the guinea pig ventricular AP formulated these processes for the ventricular myocyte (Luo & Rudy, 1994a) (Fig. 2a
Simulation of changes in intracellular ion concentrations requires incorporation of the pumps and exchangers that maintain resting levels (Fig. 2a Recently, there have been reports that the values of intracellular ion concentrations in second-generation AP models that account for dynamic concentration changes do not reach a steady state when paced over a long period of time, but drift until their values leave the physiological range (Guan et al. 1997; Yehia et al. 1999; Endresen et al. 2000; Krogh-Madsen et al. 2005). In the LRd model, drift is only observed when ions (usually K+) that carry the stimulus current are not accounted for. If the stimulus is properly implemented and the ions that it carries are included in computing concentrations, no drift is observed even at fast pacing for long intervals [Fig. 2(b)–(e) Figure 2 When dynamic intracellular ion concentrations are accounted for, Vm can also be computed directly from the concentrations by integrating the differential equation for voltage (see Varghese & Sell, 1997; Endresen et al. 2000; Dokos & Lovell, 2001; Hund et al. 2001 for details) to formulate the ‘algebraic’ method: Vmyo is the volume of the myoplasm (μL); F is Faraday’s constant (C/mol); VJSR and VNSR are volumes of the junctional and network SR compartments; Acap and Cm are the capacitive area (cm2) and capacitance (μF/cm2) of the membrane; [X]i and zx are the myoplasmic concentration and valence of each ion; [Ca2+]JSR and [Ca2+]NSR are Ca2+ concentrations in JSR and NSR; C0 is a constant of integration. The algebraic equation is based on a charge conservation principle and the charge–voltage relationship of a capacitor, V = q/C (where q is the charge, C the capacitance and V the voltage). The constant C0 is determined by substituting the initial values of the ion concentrations into the algebraic equation. With this choice, C0 is consistent with the initial conditions used for simulations using the differential formulation. A comparison between simulations using the differential or algebraic formulation [Fig. 2(b)–(e) 3. Ion-channel-based formulation of the action potential 3.1 Ion-channel structure Ion channels are typically composed of one or more α-subunits that can be modulated by accessory subunits. In heart, the sodium channel is formed by a single α-subunit that has four domains (DI–DIV) (Fig. 3a
The domains in the Na+-channel α-subunit and the K+-channel α-subunits have similar structures that confer voltage dependence and ion selectivity. The S5–S6 linker, or P-loop, enters the membrane as a hairpin to form the pore through which the ion enters or leaves. A stretch of amino acids within the P-loop determines channel selectivity. Voltage-dependent activation is caused by movement of the voltage sensor, S4, which contains positive charges that cause the segment to shift when Vm changes. This shift changes the channel conformation to an open configuration that allows the passage of ions. One astounding aspect of the Hodgkin–Huxley K+ channel model is the correspondence between the four hypothetical activation gates, n, and the four α-subunits that form the tetrameric channel. Each subunit contains a voltage sensor, and all four sensors must be in the activated position for the channel to open. Therefore, each activation gate can be thought of as simulating the activation of an individual subunit. Of course, the channel structure and the correspondence between abstract model ‘gates’ and movement of voltage sensors of the channel protein were completely unknown to Hodgkin and Huxley when they constructed their model. 3.2 Markov models of ion-channel kinetics As more information about ion-channel gating has been obtained, it has become clear that models with explicit representation of single ion-channel states are required. In the Hodgkin–Huxley formulation, the gating parameters (e.g. n, m, h) do not represent specific kinetic states of ion channels. It has also become apparent that the Hodgkin–Huxley formulation is not sufficient to describe various aspects of channel behavior. One such aspect is the inactivation of the Na+ channel, which has a greater probability of occurring when the channel is open (Armstrong & Bezanilla, 1977; Bezanilla & Armstrong, 1977). If this is the case, then inactivation depends on activation and the assumption of independent gating that allows us to multiply m3 and h to compute conductance no longer holds. What we require is a class of models that can accurately represent the dependence of a given transition on the occupancy of different states of the channel. For sodium channel inactivation, the model must account for the dependence of the inactivation transition on the probability that the channel occupies the open state. Markov-type models fit this profile, and are based on the assumption that transitions between channel states depend on the present conformation of the channel, but not on previous behavior. Because the molecular interactions of channels are often state dependent, Markov model transitions typically represent specific channel movements that have been characterized experimentally. This section describes the application of Markov-type models to simulate such interactions. We begin by describing a simple hypothetical channel with a single open (O) and a single closed (C) state (Fig. 4a
where O and C are the probabilities that the channel resides in the open or closed state; α and β are voltage dependent transition rates (ms−1) between these states. In addition to activation, many channels undergo inactivation. A hypothetical four-state model (closed, open, and two inactivated states) with two sets of forward and reverse transition rates is shown in Fig. 4b where α, β, γ, and δ are transition rates, as shown in Figure 4b Because each state represents a channel conformation, calculating the occupancies of these states can provide mechanistic insight into how transitions within the channel itself govern its behavior and participation in the AP. For example, channels that move during depolarization from C to IC to IO are not available to conduct current and do not participate in the AP. In contrast, channels that arrive at IO through O are available to conduct current while occupying the open state and have an effect on the AP. Thus, the Markov formulation can be used to relate AP morphology and properties to specific kinetic states of ion channels and the transitions between them during the different AP phases. When using Hodgkin–Huxley type formulations, the occupancy for each state is not explicitly calculated. Instead, these models assume independent gating, an assumption that improves computational efficiency, which was certainly necessary in 1952 when the Hodgkin–Huxley model was published. In the Markov model of Fig. 4b However, experiments have shown that typically channel activation and inactivation processes are not independent, but coupled. A simple version of activation and inactivation coupling, in a hypothetical channel, is shown in Fig. 4c where α, β, γ, and δ are transition rates, as shown in Fig. 4c So far, we have only described activation that involves a single transition. However, since most channels are tetrameric and the voltage sensor in each subunit must activate, more than one transition is normally needed to describe activation. A state diagram for a Markov model that represents each of the voltage sensor transitions in a tetrameric channel with identical subunits is shown in Fig. 4d Since each subunit in Fig. 4d Just as channel activation and inactivation are not typically independent, channel activation itself may also contain dependent transitions. A model containing such dependent transitions has been proposed for Shaker K+ channel activation to account for a delay observed before activation (Zagotta et al. 1994a, b). This model represents four subunits with identical activation rates, but supposes that each of those subunits goes through two conformational transitions, R1 and R2, before reaching the activated state, A. A state diagram for one of the four subunits is shown in Fig. 4e Until recently these two transitions were hypothetical voltage sensor conformations that were needed to account for the macroscopic channel behavior of delayed activation. Silverman and colleagues have published experimental evidence in Shaker K+ channels that arginine residues in the voltage sensor (S4) interact with acidic residues in S2 sequentially (Silverman et al. 2003), providing a mechanism for two-stage voltage sensor activation, as suggested by Zagotta et al. (1994b) (Fig. 5a
The voltage-sensor activation model can be extended to represent each of the channel’s four subunits (Fig. 5b The Markov models compute occupancy of the channel in its various kinetic states as a function of voltage and time (and possibly other factors such as ligand binding). The channel conducts ions when it occupies its open state (or, in some cases, multiple open states). Therefore, the macroscopic current density through an ensemble of such channels is described by the following equation: where for an arbitrary channel X,
This equation specifically accounts for the fact that current is generated by a population of ion channels that reside in the open state with a probability that depends on time and voltage. This single-channel based formulation of the current density can be incorporated into a model of the AP. Because in this scheme discrete channel states (i.e. open, closed, inactivated) are represented explicitly, the model can be used to describe not only the macroscopic current during the AP, but also the occupancies and transitions of channel states. This approach provides a mechanistic link between the whole-cell AP and the structure/function of ion channels. An example of such an approach, describing state occupancies and transitions of selected ion channels during the AP at slow and fast pacing, is provided in the next section. 3.3 Role of selected ion channels in rate dependence of the cardiac action potential Increased heart rate and elevated force of contraction are essential for increasing cardiac output. However, if APD does not shorten at fast rates ventricular relaxation during the diastolic interval (DI) cannot take place, resulting in reduced filling and decreased cardiac function. In response to rate increase, myocytes have the intrinsic ability to adapt, shortening APD to allow a sufficient DI for filling. This rate-dependent adaptation relies on complex interdependence between the ion channels that determine the AP, and on the molecular interactions that determine channel opening, closing and inactivation. By inserting detailed Markov models of the main depolarizing (INa) (Clancy & Rudy, 1999, 2002) and repolarizing [IKr (Clancy & Rudy, 2001) and IKs (Silva & Rudy, 2005)] currents into an AP model (Fig. 2a INa, the fast inward Na+ current, does not seem a likely candidate to play a major role in AP changes with rate, primarily because of its very large density that is necessary to ensure AP generation and conduction with a large margin of safety (Shaw & Rudy, 1997b). However, at fast rate channels can accumulate in an inactivated state that has a slow exit rate. This accumulation inhibits a sufficient number of channels to reduce INa, the maximum Vm and the maximum rate of depolarization, dVm/dtmax. This effect was accounted for in earlier AP models using the Hodgkin–Huxley formalism [Beeler–Reuter (Beeler & Reuter, 1977), LR1 (Luo & Rudy, 1991)] and was studied in detail. However, it was not until recently that specific molecular level interactions have been identified as candidates for this and other regulatory processes of INa. In the heart, INa is generated primarily by channels formed with the α-subunit Nav1.5, which is genetically encoded by SCN5A (George et al. 1995). Additionally, expression of multiple modulatory β-subunits (β1 –β4) is detected. Nav1.5 (Fig. 3a Each of these processes has been accounted for in the Markov model shown in Fig. 6a
While INa participates only in the first few ms of the AP, its rate-dependence is highly dependent on APD and DI. During the initial AP upstroke INa can generate as much as 300 μA/μF of inward current (Fig. 6b Like INa, guinea-pig IKr activation and onset of fast inactivation are relatively rapid. Activation dependence on Vm is also a result of displacement of positive charges in S4. However, instead of four domains in a single α-subunit, IKr is a tetrameric channel formed by four identical subunits that are genetically encoded by HERG. Several different auxiliary β-subunits have been shown to interact with the homomeric HERG channel including the MinK-related peptide (MiRP1, aka KCNE2) (Abbott et al. 1999) and MinK (aka KCNE1) (Yang et al. 1995; Ohyama et al. 2001). Voltage-dependent inactivation is caused by conformational changes in the outer mouth of the channel that mechanistically resembles C-type inactivation in Shaker (Smith et al. 1996). While it is plausible that charges in S4 could determine voltage dependence, mutation of these charges does not affect the amount of gating charge transfer during inactivation (Zhang et al. 2004). An alternate possibility is that voltage-dependence is conferred by the P-helix (positions 614–621 of the NH2 -terminal half of the P-loop) (Zhang et al. 2004), however, this hypothesis has not been tested. As with INa, IKr activation is modeled using cooperative transitions (Clancy & Rudy, 2001), and inactivation occurs preferentially from the open state (Fig. 7a
The primary repolarizing current in guinea pig is IKs, and it is composed of four KCNQ1 α-subunits as well as a modulatory β-subunit, KCNE1. While the ratio of KCNE1 to KCNQ1 in native channels has been probed using several different methods (Cui et al. 1994; Sesti & Goldstein, 1998; Wang et al. 1998; Chen et al. 2003), a consensus remains elusive. A recent study (Chen et al. 2003) concluded that each IKs channel contains four KCNQ1 subunits and two KCNE1 subunits and that other subunit stoichiometries are not naturally assembled. Noise variance analysis has shown that KCNE1 increases single-channel IKs conductance as well as channel expression relative to KCNQ1 alone (Pusch, 1998; Sesti & Goldstein, 1998; Yang & Sigworth, 1998). It also removes inactivation and slows channel activation kinetics (Tristani-Firouzi & Sanguinetti, 1998), creating a significant delay before activation. Biophysical analysis of the delay in Shaker channels suggests that two-stage voltage sensor activation, as described in Section 3 · 2 above, is necessary to reproduce the activation kinetics (Zagotta et al. 1994b). We used a similar model, where each closed state represents a possible combination of voltage sensor positions (see Fig. 5
Closed states in the model are divided into two zones, zone 2 (green) contains channels where at least one subunit still has to make a first transition to the intermediate state R2 (see Fig. 5a 3.4 Physiological implications of IKs subunit interaction As noted above, KCNE1 interaction with KCNQ1 to form IKs increases channel conductance and expression, and removes inactivation. It also acts to decrease activation rate and accelerate deactivation. These effects clearly oppose each other; the conductance increase and removal of inactivation augment the current, while the activation/deactivation kinetic changes reduce the current. Moreover, in human myocytes slowing of activation and increased rate of deactivation are much more pronounced than in other species (Virag et al. 2001). The co-existence of opposing effects would seem to prohibit IKs participation in AP repolarization and in determining APD. In particular, fast deactivation prevents channel accumulation in the open state at fast rate, a property that has been considered necessary for participation in rate-adaptation of APD. However, mutations to both KCNQ1 (Wang et al. 1996) and KCNE1 (Splawski et al. 1997) (LQT1 and LQT5 mutations respectively) can prolong the QT interval and predispose patients to cardiac arrhythmias and sudden death. Adenosine 3′,5′-monophosphate (cAMP)-dependent protein kinase A (PKA) and protein phosphatase 1 (PP1) co-immunoprecipitate with human KCNQ1, implying an IKs role in APD modulation during β-adrenergic stimulation (Terrenoire et al. 2005). Heterogeneity in IKs channel density, in particular its low density in mid-myocardial cells (M-cells) is responsible for differences in APD across the ventricular wall in many species (Liu & Antzelevitch, 1995; Antzelevitch & Fish, 2001; Antzelevitch & Dumaine, 2002). It has also been suggested that IKs serves as a repolarization reserve (RR) that can compensate for reductions in IKr by mutations or drugs (Roden, 2004). These observations suggest that IKs does play an important role in AP repolarization in human heart. To explore the KCNQ1–KCNE1 subunit interaction in the context of AP repolarization, we constructed two Markov-type models, the first of the homomeric human KCNQ1 channel and the second of the human heteromeric IKs channel (KCNQ1 with KCNE1) (Kupershmidt et al. 2002). The KCNQ1 model (not shown) has a similar 15 closed-state structure to that of IKs (Fig. 8a Each model is inserted into the LRd model of the guinea pig ventricular myocyte to create a virtual chimeric myocyte. This environment is interesting because, as discussed above, the guinea pig relies heavily on IKs for repolarization, while minimizing the role of IKr during the AP plateau. Such conditions are observed in human ventricular myocytes when IKr is reduced, and are suitable for testing the ability of IKs to participate in the RR when IKr is compromised by mutations or drugs. Figure 9
The difference observed between KCNQ1 and IKs participation in the AP is a result of different levels of channel accumulation in zone 1. IKs channels increase zone 1 occupancy by 25% as rate changes from slow to fast (Fig. 9e 3.5 Mechanism of cardiac action potential rate-adaptation is species dependent While the mechanisms that regulate APD adaptation to changes in rate are similar across mammalian species, the degree of participation of a given channel varies widely. Moreover, because of differences in channel kinetics and expression levels, AP morphology is also species specific. For example, canine ventricular epicardial APs display a notch during the early plateau phase (Fig. 10a
The presence of Ito,1 in canine epicardial myocytes indirectly influences, through its effects on other currents, rate-dependent AP changes and APD adaptation. At slow rate, a large Ito, 1 creates a deep notch in Vm (Fig. 10a Figure 10 The simulations in this section serve to underscore an important property of the cardiac AP. Under most conditions, the AP upstroke is generated by a very large INa with a large margin of safety (major reduction of INa is required to affect the upstroke). The dependence on a single, large current is consistent with the requirement that AP generation should be a robust ‘all or none’ process. In contrast, the AP plateau and repolarization phases are controlled by a delicate balance between much smaller inward and outward currents, and by their interplay via the membrane potential. Such delicate balance between multiple currents provides multiple ‘control points’ for precise control of APD and its rate dependence. The need to accommodate more APs per unit time when rate increases dictates such ‘system design’. Unfortunately, this delicate balance can be easily perturbed by undesired changes in the properties of any of the component currents. Such changes can be caused by genetic mutations of ion-channel proteins, by pathology-induced remodeling, or by drugs. In the next section, we provide examples of simulations that examine the cellular electrophysiological consequences of ion-channel mutations. 4. Simulating ion-channel mutations and their electrophysiological consequences Abnormal repolarization of the AP provides a substrate for life-threatening cardiac arrhythmias. As stated in the conclusion of the previous section, the dependence of repolarization on a delicate balance between various currents makes it vulnerable to perturbation by disease or drugs. Mutations in genes that encode cardiac ion channels can lead to abnormal channel function (‘channelopathy’) which perturbs the AP to cause arrhythmias (Keating & Sanguinetti, 1996; Priori et al. 1999a, b). Mutation-induced alterations in ion channel function are studied in expression systems (e.g. Xenopus oocyte) in isolation from the physiological environment of the cardiac cell where the channels interact to generate the AP. In this section we demonstrate how computational biology can be used to integrate this information into the functioning cardiac cell in order to relate these molecular-level findings to whole-cell function and to the clinical phenotype. We provide examples from the hereditary Long QT syndrome (LQT) that presents clinically as prolongation of the QT interval on the electrocardiogram and the occurrence of life-threatening arrhythmias and sudden cardiac death. Specifically, we simulate LQT type 3 (LQT3) and LQT type 2 (LQT2) that are associated with mutations in SCN5A (the gene that encodes INa) and in HERG (IKr), respectively. We also simulate the Brugada syndrome (Brugada et al. 1998) that presents clinically as ST segment elevation in the right precordial leads of the electrocardiogram and is also associated with severe arrhythmias and sudden death. Because mutations affect specific structural elements and kinetic states of the model and their interdependencies, single-channel-based Markov models are required to conduct these simulations. We also show how the molecular structure of an ion channel (IKs) underlies its ability to compensate for reduced repolarizing current when IKr is compromised by mutation (LQT2) or drugs (‘acquired LQT’), a property that identifies the role of IKs as repolarization reserve (RR) under pathological conditions. 4.1 Mutations in SCN5A, the gene that encodes the cardiac sodium channel 4.1.1 The ΔKPQ mutation and LQT3 ΔKPQ is a mutation in the SCN5A gene that encodes INa. It causes a deletion of three amino acids from a highly conserved region of the III–IV linker, a portion of the INa channel protein that is involved in fast inactivation (Fig. 11
During its excitatory cycle (Fig. 11 The modifications of channel gating by the ΔKPQ mutation were simulated in the Markov model of INa shown in Fig. 12a
Figure 12(b,c) The observation that ΔKPQ channels reopen and burst at depolarized potentials leads to the hypothesis that together these modes generate a significant late INa current during the AP plateau and that this current is sufficient to delay AP repolarization and prolong the APD. The prolonged APD is reflected as QT interval prolongation on the ECG, the Long QT syndrome phenotype. To examine this possibility, the Markov models of Fig. 12
The late (sustained) component of ΔKPQ INa arises mostly from bursting channels caught in the burst mode of gating. These channels experience a transient failure of inactivation. A different kinetic mechanism has been suggested by computer simulations to underlie LQT3 associated with the SCN5A I1768V mutation (Clancy et al. 2003). For this mutation, INa mutant channels recover from inactivation at a faster rate than WT and reopen during the repolarization phase of the AP, when the membrane voltage is decreasing (non-equilibrium conditions). The INa current generated by channel reopenings tilts the balance of currents during repolarization in the depolarizing direction, thus prolonging repolarization and APD, and leading to formation of EADs. The EAD in Fig. 13
4.1.2 SCN5A mutation that underlies a dual phenotype 1795insD is a mutation that involves insertion of an aspartic acid in the C terminus of the cardiac Na channel (Fig. 16a
Similar to the ΔKPQ simulations of the previous section, our starting point is the development of Markov models for WT and 1795insD Na channels (Fig. 16b
To examine how this single mutation can cause the two distinct ECG abnormalities associated with LQT and Brugada, we simulated its effects on the AP of different myocardial cell types from the epicardium (epicardial cells) and from the mid-myocardium (M cells) (Clancy & Rudy, 2002). Epicardial cells, especially from the right ventricular outflow tract (RVOT) are characterized by high levels of Ito (the transient outward current) and IKs expression (Antzelevitch et al. 1999; Dumaine et al. 1999; Yan & Antzelevitch, 1999). The AP of such cells has a characteristic ‘spike and dome’ morphology (Fig. 20
The mechanism underlying the AP morphology changes of RVOT epicardial cells at fast rate is as follows (Fig. 22
The AP changes described above occur only at fast pacing rates. At slow rates, mutant channels have sufficient recovery time between beats and severe cumulative suppression of INa does not occur. Consequently, the effect of the mutation on epicardial AP at slow rate is minimal (Fig. 21
The longest myocardial APD determines the QT interval on the ECG. Therefore, prolongation of the M-cell APD at slow rate explains the QT interval prolongation and LQT ECG phenotype of patients with the 1795insD mutation at slow rate (Fig. 25 Vm from the epicardial to the M region during the AP plateau (the phase that corresponds to the ST segment of the ECG; Fig. 25 Vm, this gradient generates ST segment elevation on the ECG, the Brugada phenotype. The ST-segment elevation is prominent in the right precordial leads because of their proximity to the RVOT, the location of epicardial cells with a large Ito that lose the dome or experience a prolonged notch. Figure 26
The 1795insD simulations demonstrate an important principle, namely that even a simple mutation (an insertion of a single amino acid) can cause multiple different (and even opposite) phenotypes with different pathological and clinical manifestations. This ability stems from the fact that the mutation interacts with a heterogeneous substrate, in this case the heterogeneous myocardium that contains different cell types with different electrophysiological properties. Through rate-dependent processes, the INa mutation affects differently epicardial, endocardial, and M cells in a rate-dependent fashion to produce multiple clinical phenotypes. The observation that the phenotypes are determined by complex interactions between the mutant channel and its physiological environment highlights the need for integrative computational models for establishing a mechanistic link between abnormal channel function and its arrhythmogenic consequences. 4.2 Mutations in HERG, the gene that encodes IKr : re-examination of the ‘gain of function/loss of function’ concept Various mutations in HERG, the major subunit of IKr, underlie type 2 of the congenital long-QT syndrome, LQT2 (Roden & Balser, 1999). Many of these mutations cause trafficking abnormalities that prevent transport of the channel protein to the cell membrane (Zhou et al. 1998). The resulting complete absence of IKr constitutes a total ‘loss of function’ of this current. The reduction of total repolarizing current due to loss of IKr, causes AP prolongation which is reflected on the ECG as prolongation of the QT interval (the LQT phenotype). Other mutations do not cause complete loss of IKr current, but alter the channel kinetic properties. The mechanisms through which such mutations cause AP prolongation are not so obvious and require careful investigation. As with the SCN5A mutations of the previous sections, we use computational biology to study the effects of selected HERG mutations on the AP (Clancy & Rudy, 2001). Three mutations are selected as examples (Fig. 27
R56Q is a point mutation in the Per–Arnt–Sim (PAS) domain in the N-terminus of HERG, which in the WT interacts with the channel to reduce its deactivation rate (Chen et al. 1999). Mutations in this region appear to alter the interaction of the N-terminus with the channel, thereby accelerating channel deactivation. In the Markov model of IKr, this effect is simulated by increasing the rate of transition from the open state to the closest closed state (O to C1; the process of deactivation) and into deeper closed states (from C2 to C3). With faster deactivation,the channel resides for a shorter time in its open, conducting state. This constitutes ‘ loss of channel function ’ and results in reduced IKr current. The N629D mutation results in two alterations of channel properties : (1) loss of C-type inactivation, and (2) loss of K+ selectivity (mutant channels can conduct other monovalent cations) (Lees-Miller et al. 2000). These changes constitute ‘ gain of function’ because the channel does not inactivate and can rely on Na+, in addition to K+, as charge carrier. Based on the ‘ loss of function/gain of function’ classification, a gain of IKr function is expected to generate a greater repolarizing current and shorten the AP. Yet, this mutation is associated with LQT, a seemingly paradoxical observation. We simulate the changes in IKr function by eliminating inactivation (O to I transition rate is set to zero) and by permitting Na+ to be conducted through the channel with relative selectivity PNa/PK=0.65. The effect of the above three mutations on the cellular AP are simulated by inserting the mutant IKr channels into the LRd model cell. A comparison of APs from the mutations and from WT is shown in Fig. 28
For the T474I mutant, there is only minor prolongation of APD relative to WT, caused by the GKr reduction. The kinetic alteration caused by the mutation (negative shift of activation) accelerates activation and influences IKr early during the AP (Fig. 28b The R56Q mutation causes a large prolongation of APD (at pacing CL of 750 ms, APD is prolonged by 33 ms relative to WT). In contrast to the T474I mutation that alters IKr early during the AP, R56Q exerts its effect during the late AP plateau and repolarization phase. The mutation accelerates deactivation (transitions from O to C1), which removes the late peak of open-state occupancy (Fig. 28f As stated earlier, N629D is a ‘ gain of function’ mutation; its effects on the AP of epicardial and M cells are shown in Fig. 29
The HERG simulations in this section demonstrate an important principle: the consequence of a mutation that alters channel kinetics depends on the details of the kinetic change and when during the AP it exerts its effect. In the examples of this section, accelerated activation (T474I) had only minor effect on repolarization because its effect was early during the AP. In contrast, accelerated deactivation (R56Q) had a large effect on APD because it had an effect during the late AP plateau. Moreover, a ‘ gain of function ’ mutation (N629D) in HERG, normally a repolarizing channel, caused APD prolongation. These observations challenge the widely accepted concept that the effect of an ion-channel alteration on the APD can be simply classified in terms of ‘ loss or gain of function’; that is, gain (loss) of a depolarizing channel function causes prolongation (shortening) of APD respectively, and gain (loss) of a repolarizing channel function causes shortening (prolongation) of APD respectively. In general, such classification is too simplistic and, as demonstrated here, could lead to erroneous predictions of effects on the AP and of the resulting cellular electrophysiological phenotype. 4.3 Role of IKs as 'repolarization reserve' In Sections 3.3 and 3.4, the role of IKs in rate-dependent repolarization and APD adaptation was discussed. Mutations in the α-subunit of IKs lead to type 1 long QT syndrome (LQT1) which is the most common of the LQT types and generates cardiac arrhythmias at high levels of β-adrenergic tone (during exercise or stress) (Duggal et al. 1998; Schwarz et al. 1977). The effects of reduced IKs on the AP have been simulated for different cell types (epicardial, M, and endocardial) and at different rates (Viswanathan & Rudy, 2000). A simulation of a mutation that interrupts β-adrenergic regulation of IKs (KCNQ1-G589D) has predicted APD prolongation and transient after-depolarizations during β-adrenergic stimulation (Saucerman et al. 2004). This mutation has been linked to LQT syndrome in Finnish patients and associated with exercise induced arrhythmias (Piippo et al. 2001; Fodstad et al. 2004). Here, we examine the role played by IKs when IKr is reduced. IKr can be compromised by mutations that cause the congenital LQT2 (Section 4.2) More common is IKr blockade by drugs, including certain antibiotics and antipsychotic agents, that leads to the acquired form of LQT (Roden, 2004). It has been hypothesized that IKs can supply a RR current that can compensate for the reduction in IKr under such conditions (Roden, 2004). This possibility is examined in the simulations of Fig. 30
Figure 30a It is important to evaluate whether IKs can provide the RR needed to prevent development of EADs when IKr is compromised. Many clinical arrhythmias due to reduced IKr occur following a pause (Kay et al. 1983; Viswanathan & Rudy, 1999). A pause protocol in presence of IKr block is simulated in Fig. 30b Thus, IKs can provide RR and prevent arrhythmogenic EADs when IKr is compromised by disease or drugs. Its ability to do so results from its kinetic properties that maximize the current late, rather than early, during the AP. These kinetic properties are conferred by the interaction between the molecular subunits of the channel, KCNQ1 and KCNE1. 5. Modeling cell signaling in electrophysiology Traditionally, cellular models have focused on simulating electrical activity under control conditions, where adrenergic and other cell stimuli are at basal levels. Various regulatory pathways have a strong modulatory effect on cell electrophysiology. This effect can be achieved through direct interaction with ion channel proteins [e.g. β-adrenergic modulation of IKs (Marx et al. 2002)] or indirectly by modifying cellular Ca2+ cycling and the Ca2+ transient which, in turn, interacts with various electrogenic processes (e.g. Na+–Ca2+ exchange) to modulate the AP. The participation of regulatory processes in cell electrophysiology is essential for normal cardiac function. However, such processes can also tilt the delicate electrophysiological balance in the direction of arrhythmogenesis, as observed in LQT1 patients (Priori et al. 2003) or in patients with catecholaminergic polymorphic ventricular arrhythmias due to abnormal Ca2+ cycling (Lahat et al. 2003; Francis et al. 2005), where arrhythmias are triggered under high β-adrenergic tone. The dynamic interactions between regulatory pathways, cellular Ca2+ cycling, and cell electrophysiology add a high level of complexity to cell behavior. Without the guidance of mathematical models, it is impossible to predict the cellular responses to modification of any of the cell components (by disease, drugs or other interventions) or to identify the underlying mechanism with any degree of certainty. In this section we provide examples of models that integrate the effects of cell signaling and regulatory pathways into the electrophysiological behavior of cardiac cells. 5.1 CaMKII regulation of the Ca2+ transient The heart enhances its output in response to elevated cardiovascular demand by increasing its rate which is concurrent with a greater force of contraction. This force-frequency dependence arises even in the absence of β-adrenergic stimulation, as evidenced by the observation that in isolated myocytes fast pacing leads to a greater calcium transient (CaT) amplitude and increased force of contraction (Wang et al. 1988). The CaMKII signaling cascade is likely to be involved in this process, because it has been shown to interact with the cell machinery that generates the CaT (Maier & Bers, 2002; Hund & Rudy, 2004, 2006; Zhang et al. 2005). Specifically, CaMKII substrates include ICa(L), the ryanodine receptor (RyR), the SR Ca2+-uptake pump (SERCA2a) and phospholamban (PLB) (Le Peuch et al. 1979; Wegener et al. 1989; Witcher et al. 1991; Toyofuku et al. 1994; Yuan & Bers, 1994; Odermatt et al. 1996; Hagemann et al. 2000). CaMKII also phosphorylates neighboring CaMKII subunits (autophosphorylation) (Hanson et al. 1994), enabling it to detect Ca2+ spike frequency, which links its effects to the rate of pacing and of AP generation (Fig. 31
The rate-dependent activity of CaMKII and its effects on the above substrates were simulated in a model of the canine ventricular cell (Hund & Rudy, 2004). Model comparison to experiment at different rates (Fig. 32a
This result implies that existence of the positive force-frequency relationship is dependent on the CaMKII signaling cascade, and enforces the notion that cell signaling plays an integral role in cell excitation and contraction. 5.2 The β-adrenergic signaling cascade β-adrenergic stimulation directly increases the force of contraction in isolated ventricular myocytes by increasing Ca2+ influx through ICa(L), which results in elevated [Ca2+]i that signals stronger contraction. This increase in a depolarizing current can also lead to prolonged APs that are susceptible to arrythmogenic EADs (Priori & Corr, 1990; Zeng & Rudy, 1995). One way in which the myocyte stabilizes the AP to counter EAD formation is increasing repolarizing current, primarily IKs, in response to β-adrenergic stimulus (Walsh & Kass, 1988). However, if IKs availability were reduced by mutation (LQT1), or if it were unable to respond to β-adrenergic stimulation, this important anti-arrhythmic mechanism (termed ‘RR’) would be compromised and cells would be more susceptible to EAD generation and triggered activity. In support of this hypothesis, patients with IKs mutations and the LQT1 syndrome are prone to arrhythmias and sudden cardiac death in situations where β-adrenergic tone is elevated (Priori et al. 2003). The interaction between β-adrenergic stimulation and IKs was recently shown to involve association of cAMP-dependent PKA and PP1 with the C-terminal domain of KCNQ1 (the α-subunit of IKs) (Marx et al. 2002). This finding shows that the β-adrenergic signaling cascade is actually a part of the IKs channel complex, directly participating in the generation of the AP. Additional experiments with accompanying simulations have shown that this interaction enhances IKs participation in the AP by increasing the rate of IKs activation and slowing the rate of deactivation, resulting in IKs accumulation and more open channels throughout the course of the AP (Terrenoire et al. 2005). The effects described above reflect the steady-state consequences of β-adrenergic stimulation, however the time-dependence of substrate phosphorylation may also affect the cellular phenotype. A β-adrenergic model that accounts for time-dependence of substrate phosphorylation (for timescales that are faster than 10 min and slower than 0.1 s) has been formulated based on data primarily from the rat (Saucerman et al. 2003) (schematic shown in Fig. 33a
To study the cellular level electrophysiological effects of the β-adrenergic signaling cascade, this model was expanded to include PKA phosphorylation of the L-type calcium channel, PLB, I1, RyR, troponin I (Saucerman & McCulloch, 2004) and KCNQ1 (Saucerman et al. 2004), and was incorporated into a model of the rabbit ventricular AP (Puglisi & Bers, 2001). Since the model was formulated to reproduce data from the rat, protein expression levels of the β1AR, PDE, PKA and PLB were adjusted to reproduce cAMP and PKA dependence on time and isoproterenol in the rabbit (Saucerman et al. 2004). Using this model to simulate control conditions in normal cells, β-adrenergic stimulation resulted in AP shortening (Saucerman et al. 2004). However, in the presence of a simulated KCNQ1-G589D mutation, which prevents PKA-mediated IKs increase (Kass & Moss, 2003), APD prolonged significantly. Incorporation of the mutant cell model into a transmural rabbit ventricular tissue model that included endocardial, mid-myocardial and epicardial cell types, resulted in β-adrenergic-mediated repolarization abnormalities and APD prolongation that was most significant in the endocardial layer (Fig. 33b, c The CaMKII and β-adrenergic simulations presented above underscore the importance of accounting for cell signaling effects in models of cardiac cell electrophysiology and calcium cycling. These models are first examples of this integrated modeling approach, and reflect our current (but still evolving) understanding of the signaling pathways. As experiments provide better characterization of substrates and help resolve existing controversies, these models will have to be revisited and refined. 6. Epilogue
Mechanistic understanding of the cardiac excitatory process is a prerequisite for correct diagnosis and effective treatment of cardiac arrhythmias. Such understanding requires integration of processes at various levels, from the ion channel, to the whole cell, to the multicellular tissue, to the heart as a whole organ. Traditionally, the reductionist approach has been applied to cardiac research, collecting data from isolated building blocks of the highly integrated cardiac system. Such data are usually acquired under conditions that do not mimic the physiological (or pathophysiological) environment. In this review we describe and provide examples of the use of computational biology (mathematical modeling) in the integration of individual components into the physiologically functioning system of the cardiac cell. As demonstrated here, even the single cell is a highly complex, nonlinear and interactive system. In this system, ion channels interact with a dynamic ionic environment, with the membrane voltage, and with a variety of regulatory molecules to generate and modulate the cardiac AP; the outcome of these interactions usually defies intuition. This article focuses on integration from the molecular properties of ion channels to the whole-cell electrophysiological function, thus defining the single cardiac cell as the complex system of interest [simulations of the interactions between ion channels and the multicellular tissue during AP propagation were described in a recent review article (Kleber & Rudy, 2004)]. The simulations presented here demonstrate that the role of ion channels in shaping and controlling the cardiac AP is defined by their molecular properties and transitions between kinetic states during the AP time-course. Similarly, the effect of an ion-channel mutation depends on the mutation-induced changes in channel kinetics and, in particular, when during the AP the mutation exerts its effect. Thus, the ‘ gain of function/loss of function ’ rule is not always sufficient to predict the effect of a given mutation on the cardiac AP. The fact that cardiac cells are heterogeneous adds another level of complexity because, as demonstrated by the dual phenotype simulations of the SCN5A 1795insD mutation, the electrophysiological consequences of ion-channel abnormality depend on the ionic profile of the cell. This profile is not only heterogeneous but also dynamic, as ion-channel expression levels change due to remodeling processes induced by pathology and aging. At a higher level of complexity yet, these processes are modulated by interactions with regulatory pathways and the calcium subsystem of the cell. Computational biology is a powerful approach that can help identify and elucidate mechanistic interactions between various components of the cell and predict their effect on the whole-cell behavior. Given the explosion of genetic and molecular data, we believe that this approach will continue to evolve and provide a framework for interpretation and integration of experimental information not only in the cardiac system, but in other systems as well. Acknowledgments We dedicate this paper to the memory of Professor Silvio Weidmann who passed away on 11 July 2005 in Bern, Switzerland. Professor Weidmann was the first to record a cardiac AP and to show that cardiac cells communicate electrically through conductive pathways (gap junctions). The field of cardiac electrophysiology would not have been where it is today without his pioneering ideas, insights, and ingenious experiments. We thank members of the ‘Rudy lab ’ : Keith Decker, Greg Faber, Leonid Livshitz and Tom O’Hara for reading the manuscript and providing comments. A special thank you goes to Jennifer Godwin-Wyer for her expert help with the preparation of the manuscript and figures. We are very grateful for the continued support by the NIH – National Heart, Lung and Blood Institute through grant R01-HL49054 and MERIT award R37-HL33343 (to Y. Rudy) and fellowship F31-HL68318 (to J. Silva); Yoram Rudy is the Fred Saigh Distinguished Professor at Washington University in St. Louis. References
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