Estimating kinetic parameters for single channels with simulation. A general method that resolves the missed event problem and accounts for noise.

Analysis of currents recorded from single channels is complicated by the limited time resolution (filtering) of the data which can prevent the detection of brief intervals. Although a number of approaches have been used to correct for the undetected intervals (missed events) when identifying kinetic models and estimating parameters, none of them provide a general method which takes into account the true effects of noise and limited time resolution. This paper presents such a method. The approach is to use simulated single-channel currents to incorporate the true effects of filtering and noise on missed events and interval durations. The simulated currents are then analyzed in a manner identical to that used to analyze the experimental currents. An iterative search process using likelihood comparison of two-dimensional dwell-time distributions obtained from the simulated and experimental single-channel currents then allows the most likely rate constants to be determined. The large errors and false solutions that can result from the more typically applied assumptions of no noise and an absolute dead time (idealized filtering) are excluded by the iterative simulation method, and the correlation information contained in the two-dimensional distributions should increase the ability to distinguish among different gating mechanisms. The iterative simulation method is generally applicable to channels which typically open to a single conductance level. For these channels the method places no restrictions on the proposed gating mechanism or the form of the predicted dwell-time distributions.     

How Powerful is the Dwell-Time Analysis of Multichannel Records?

Exact algorithms for the kinetic analysis of multichannel patch-clamp records require hours to days for a single record. Thus, it may be reasonable to use a fast but less accurate method for the analysis of all data sets and to use the results for a reanalysis of some selected records with more sophisticated approaches. For the first run, the tools of single-channel analysis were used for the evaluation of the single-channel rate constants from multichannel dwell-time histograms. This could be achieved by presenting an ensemble of single channels by a ``macrochannel' comprising all possible states of the ensemble of channels. Equations for the calculations of the elements of the macrochannel transition matrix and for the steady-state concentrations for individual states are given. Simulations of multichannel records with 1 to 8 channels with two closed and one open states and with 2 channels with two open and two closed states were done in order to investigate under which conditions the one-dimensional dwell-time analysis itself already provides reliable results. Distributions of the evaluated single-channel rate constants show that a bias of the estimations of the single-channel rate constants of 10 to 20% has to be accepted. The comparison of simulations with signal-to-noise ratios of SNR = 1 or SNR = 25 demonstrates that the major problem is not the convergence of the fitting routine, but failures of the level detector algorithm which creates the dwell-times distributions from noisy time series. The macrochannel presentation allows the incorporation of constraints like channel interaction. The evaluation of simulated 4-channel records in which the rate-constant of opening increased by 20% per already open channel could reveal the interaction factor. Received: 9 June 1997/Revised: 28 April 1998     

Kinetic time constants independent of previous single-channel activity suggest Markov gating for a large conductance Ca-activated K channel

Models for the gating of ion channels usually assume that the rate constants for leaving any given kinetic state are independent of previous channel activity. Although such discrete Markov models have been successful in describing channel gating, there is little direct evidence for the Markov assumption of time-invariant rate constants for constant conditions. This paper tests the Markov assumption by determining whether the single-channel kinetics of the large conductance Ca-activated K channel in cultured rat skeletal muscle are independent of previous single-channel activity. The experimental approach is to examine dwell-time distributions conditional on adjacent interval durations. The time constants of the exponential components describing the distributions are found to be independent of adjacent interval duration, and hence, previous channel activity. In contrast, the areas of the different components can change. Since the observed time constants are a function of the underlying rate constants for transitions among the kinetic states, the observation of time constants independent of previous channel activity suggests that the rate constants are also independent of previous channel activity. Thus, the channel kinetics are consistent with Markov gating. An observed dependent (inverse) relationship between durations of adjacent open and shut intervals together with Markov gating indicates that there are two or more independent transition pathways connecting open and shut states. Finally, no evidence is found to suggest that gating is not at thermodynamic equilibrium: the inverse relationship was independent of the time direction of analysis.     

Testing for microscopic reversibility in the gating of maxi K+ channels using two-dimensional dwell-time distributions.

An assumption usually made when developing kinetic models for the gating of ion channels is that the transitions among the various states involved in the gating obey microscopic reversibility. If this assumption is incorrect, then the models and estimated rate constants made with the assumption would be in error. This paper examines whether the gating of a large conductance Ca-activated K+ channel in skeletal muscle is consistent with microscopic reversibility. If microscopic reversibility is obeyed, then the number of forward and backward transitions per unit time for each individual reaction step will, on average, be identical and, consequently, the gating must show time reversibility. To look for time reversibility, two-dimensional dwell-time distributions of the durations of open and closed intervals were obtained from single-channel current records analyzed in the forward and in the backward directions. Two-dimensional dwell-time distributions of pairs of open intervals and of pairs of closed intervals were also analyzed to extend the resolution of the method to special circumstances in which intervals from different closed (or open) states might have similar durations. No significant differences were observed between the forward and backward analysis of the two-dimensional dwell-time distributions, suggesting time reversibility. Thus, we find no evidence to indicate that the gating of the maxi K+ channel violates microscopic reversibility.     

Inversion of Markov processes to determine rate constants from single-channel data.

The determination of rate constants from single-channel data can be very difficult, in part because the single-channel lifetime distributions commonly analyzed by experimenters often have a complicated mathematical relation to the channel gating mechanism. The standard treatment of channel gating as a Markov process leads to the prediction that lifetime distributions are exponential functions. As the number of states of a channel gating scheme increases, the number of exponential terms in the lifetime distribution increases, and the weights and decay constants of the lifetime distributions become progressively more complicated functions of the underlying rate constants. In the present study a mathematical strategy for inverting these functions is introduced in order to determine rate constants from single-channel lifetime distributions. This inversion is easy for channel gating schemes with two or fewer states of a given conductance, so the present study focuses on schemes with more states. The procedure is to derive explicit equations relating the parameters of the lifetime distribution to the rate constants of the scheme. Such equations can be derived using the equality between symmetric functions of eigenvalues of a matrix and sums over principle minors, as well as expressions for the moments, derivatives, and weights of a lifetime distribution. The rate constants are then obtained as roots to this system of equations. For a gating scheme with three sequential closed states and a single gateway state, exact analytical expressions were found for each rate constant in terms of the parameters of the three-exponential closed-time distribution. For several other gating schemes, systems of equations were found that could be solved numerically to obtain the rate constants. Lifetime distributions were shown to specify a unique set of real rate constants in sequential gating schemes with up to five closed or five open states. For kinetic schemes with multiple gating pathways, the analysis of simulated data revealed multiple solutions. These multiple solutions could be distinguished by examining two-dimensional probability density functions. The utility of the methods introduced here are demonstrated by analyzing published data on nicotinic acetylcholine receptors, GABA(A) receptors, and NMDA receptors.     

Identifying kinetic gating mechanisms for ion channels by using two-dimensional distributions of simulated dwell times.

Ion channels are integral membrane proteins that regulate ionic flux through cell membranes by opening and closing (or gating) their pores. The gating can be monitored by observing step changes in the current flowing through single channels. Analysis of the durations of the open and closed intervals and of the correlations among the interval durations can give insight into the gating mechanism. Although it is well known that the correlation information can be essential to distinguish among possible gating mechanisms, it has been difficult to use this information because it has not been possible to correct the predicted correlations for the distortion of the single-channel data because of filtering and noise. To overcome this limitation we present a method based on a comparison of simulated and experimental two-dimensional dwell-time distributions constructed by analysing simulated and experimental single-channel currents in an identical manner. The simulated currents incorporate the true effects of filtering and noise, the two-dimensional distributions retain the correlation information, and the identical analysis allows direct maximum-likelihood comparison of the simulated and experimental two-dimensional distributions. We show that the two-dimensional simulation method has a greatly increased ability to distinguish among models, compared with methods that use one-dimensional distributions.     

Two-dimensional components and hidden dependencies provide insight into ion channel gating mechanisms

Correlations between the durations of adjacent open and shut intervals recorded from ion channels contain information about the underlying gating mechanism. This study presents an additional approach to extracting the correlation information. Detailed correlation information is obtained directly from single-channel data and quantified in a manner that can provide insight into the connections among the states underlying the gating. The information is obtained independently of any specific kinetic scheme, except for the general assumption of Markov gating. The durations of adjacent open and shut intervals are binned into two-dimensional (2-D) dwell-time distributions. The 2-D (joint) distributions are fitted with sums of 2-D exponential components to determine the number of 2-D components, their volumes, and their open and closed time constants. The dependency of each 2-D component is calculated by comparing its observed volume to the volume that would be expected if open and shut intervals paired independently. The estimated component dependencies are then used to suggest gating mechanisms and to provide a powerful means of examining whether proposed gating mechanisms have the correct connections among states. The sensitivity of the 2-D method can identify hidden components and dependencies that can go undetected by previous correlation methods.     

Two-dimensional kinetic analysis suggests nonsequential gating of mechanosensitive channels in Xenopus oocytes

Xenopus oocytes express mechanosensitive (MS(XO)) channels that can be studied in excised patches of membrane with the patch-clamp technique. This study examines the steady-state kinetic gating properties of MS(XO) channels using detailed single-channel analysis. The open and closed one-dimensional dwell-time distributions were described by the sums of 2-3 open and 5-7 closed exponential components, respectively, indicating that the channels enter at least 2-3 open and 5-7 closed kinetic states during gating. Dependency plots revealed that the durations of adjacent open and closed intervals were correlated, indicating two or more gateway states in the gating mechanism for MS channels. Maximum likelihood fitting of two-dimensional dwell-time distributions to both generic and specific models was used to examine gating mechanism and rank models. A kinetic scheme with five closed and five open states, in which each closed state could make a direct transition to an open state (two-tiered model) could account for the major features of the single-channel data. Two-tiered models that allowed direct transitions to subconductance open states in addition to the fully open state were also consistent with multiple gateway states. Thus, the gating mechanism of MS(XO) channels differs from the sequential (linear) gating mechanisms considered for MS channels in bacteria, chick skeletal muscle, and Necturus proximal tubule.     

Single-channel acetylcholine receptor kinetics.

The temporal relationships among junctional acetylcholine receptor single-channel currents have been examined to probe the mechanism of channel activation. We have presented an analytical approach, termed single-channel ensemble analysis, that allows one to estimate the kinetic transition rate constants for channel-opening and closing as well as the rate of leaving the specific doubly-liganded, closed state from which opening occurs. This approach may be applied to data produced by any number of independent channels as long as the probability of channel opening is low, a condition that is experimentally verifiable. The method has been independently validated using simulated single-channel data generated by computer from one or 100 hypothetical channels. Typical experimental values for the transition rate constants estimated from acetylcholine-activated single channels at the garter snake neuromuscular junction were: opening = 1,200 s-1, closing = 455 s-1, back rate for leaving the doubly-liganded, closed state = 3,200 s-1 at a transmembrane potential of -92 mV at room temperature. Each of these three rate constants was voltage dependent, with the closing rate decreasing e-fold for 173 mV of hyperpolarization, the opening rate increasing e-fold for 78 mV, and the unbinding rate increasing e-fold for 105 mV. The channel-closing rate was agonist dependent, being greater at all potentials for channels activated with carbamylcholine than for channels activated with acetylcholine. However, the single-channel conductance and reversal potential were the same for these two agonists.     

The power of two-dimensional dwell-time analysis for model discrimination, temporal resolution, multichannel analysis and level detection

Two-dimensional (2D) dwell-time analysis of time series of single-channel patch-clamp current was improved by employing a Hinkley detector for jump detection, introducing a genetic fit algorithm, replacing maximum likelihood by a least square criterion, averaging over a field of 9 or 25 bins in the 2D plane and normalizing per measuring time, not per events. Using simulated time series for the generation of the "theoretical" 2D histograms from assumed Markov models enabled the incorporation of the measured filter response and noise. The effects of these improvements were tested with respect to the temporal resolution, accuracy of the determination of the rate constants of the Markov model, sensitivity to noise and requirement of open time and length of the time series. The 2D fit was better than the classical hidden Markov model (HMM) fit in all tested fields. The temporal resolution of the two most efficient algorithms, the 2D fit and the subsequent HMM/beta fit, enabled the determination of rate constants 10 times faster than the corner frequency of the low-pass filter. The 2D fit was much less sensitive to noise. The requirement of computing time is a problem of the 2D fit (100 times that of the HMM fit) but can now be handled by personal computers. The studies revealed a fringe benefit of 2D analysis: it can reveal the "true" single-channel current when the filter has reduced the apparent current level by averaging over undetected fast gating.     

Linking exponential components to kinetic states in Markov models for single-channel gating

Discrete state Markov models have proven useful for describing the gating of single ion channels. Such models predict that the dwell-time distributions of open and closed interval durations are described by mixtures of exponential components, with the number of exponential components equal to the number of states in the kinetic gating mechanism. Although the exponential components are readily calculated (Colquhoun and Hawkes, 1982, Phil. Trans. R. Soc. Lond. B. 300:1-59), there is little practical understanding of the relationship between components and states, as every rate constant in the gating mechanism contributes to each exponential component. We now resolve this problem for simple models. As a tutorial we first illustrate how the dwell-time distribution of all closed intervals arises from the sum of constituent distributions, each arising from a specific gating sequence. The contribution of constituent distributions to the exponential components is then determined, giving the relationship between components and states. Finally, the relationship between components and states is quantified by defining and calculating the linkage of components to states. The relationship between components and states is found to be both intuitive and paradoxical, depending on the ratios of the state lifetimes. Nevertheless, both the intuitive and paradoxical observations can be described within a consistent framework. The approach used here allows the exponential components to be interpreted in terms of underlying states for all possible values of the rate constants, something not previously possible.     

The Power of Two-Dimensional Dwell-Time Analysis for Model Discrimination, Temporal Resolution, Multichannel Analysis and Level Detection

Two-dimensional (2D) dwell-time analysis of time series of single-channel patch-clamp current was improved by employing a Hinkley detector for jump detection, introducing a genetic fit algorithm, replacing maximum likelihood by a least square criterion, averaging over a field of 9 or 25 bins in the 2D plane and normalizing per measuring time, not per events. Using simulated time series for the generation of the “theoretical” 2D histograms from assumed Markov models enabled the incorporation of the measured filter response and noise. The effects of these improvements were tested with respect to the temporal resolution, accuracy of the determination of the rate constants of the Markov model, sensitivity to noise and requirement of open time and length of the time series. The 2D fit was better than the classical hidden Markov model (HMM) fit in all tested fields. The temporal resolution of the two most efficient algorithms, the 2D fit and the subsequent HMM/beta fit, enabled the determination of rate constants 10 times faster than the corner frequency of the low-pass filter. The 2D fit was much less sensitive to noise. The requirement of computing time is a problem of the 2D fit (100 times that of the HMM fit) but can now be handled by personal computers. The studies revealed a fringe benefit of 2D analysis: it can reveal the “true” single-channel current when the filter has reduced the apparent current level by averaging over undetected fast gating.     

Model-based fitting of single-channel dwell-time distributions

Single-channel recordings provide unprecedented resolutions on kinetics of conformational changes of ion channels. Several approaches exist for analysis of the data, including the dwell-time histogram fittings and the full maximal-likelihood approaches that fit either the idealized dwell-time sequence or more ambitiously the noisy data directly using hidden Markov modeling. Although the full maximum likelihood approaches are statistically advantageous, they can be time-consuming especially for large datasets and/or complex models. We present here an alternative approach for model-based fitting of one-dimensional and two-dimensional dwell-time histograms. To improve performance, we derived analytical expressions for the derivatives of one-dimensional and two-dimensional dwell-time distribution functions and employed the gradient-based variable metric method for fast search of optimal rate constants in a model. The algorithm also has the ability to allow for a first-order correction for the effects of missed events, global fitting across different experimental conditions, and imposition of typical constraints on rate constants including microscopic reversibility. Numerical examples are presented to illustrate the performance of the algorithm, and comparisons with the full maximum likelihood fitting are discussed.     

On the simple random-walk models of ion-channel gate dynamics reflecting long-term memory

Several approaches to ion-channel gating modelling have been proposed. Although many models describe the dwell-time distributions correctly, they are incapable of predicting and explaining the long-term correlations between the lengths of adjacent openings and closings of a channel. In this paper we propose two simple random-walk models of the gating dynamics of voltage and Ca(2+)-activated potassium channels which qualitatively reproduce the dwell-time distributions, and describe the experimentally observed long-term memory quite well. Biological interpretation of both models is presented. In particular, the origin of the correlations is associated with fluctuations of channel mass density. The long-term memory effect, as measured by Hurst R/S analysis of experimental single-channel patch-clamp recordings, is close to the behaviour predicted by our models. The flexibility of the models enables their use as templates for other types of ion channel.     

Exponential Sum-Fitting of Dwell-Time Distributions without Specifying Starting Parameters

Fitting dwell-time distributions with sums of exponentials is widely used to characterize histograms of open- and closed-interval durations recorded from single ion channels, as well as for other physical phenomena. However, it can be difficult to identify the contributing exponential components. Here we extend previous methods of exponential sum-fitting to present a maximum-likelihood approach that consistently detects all significant exponentials without the need for user-specified starting parameters. Instead of searching for exponentials, the fitting starts with a very large number of initial exponentials with logarithmically spaced time constants, so that none are missed. Maximum-likelihood fitting then determines the areas of all the initial exponentials keeping the time constants fixed. In an iterative manner, with refitting after each step, the analysis then removes exponentials with negligible area and combines closely spaced adjacent exponentials, until only those exponentials that make significant contributions to the dwell-time distribution remain. There is no limit on the number of significant exponentials and no starting parameters need be specified. We demonstrate fully automated detection for both experimental and simulated data, as well as for classical exponential-sum-fitting problems.     

The Estimation of Rapid Rate Constants from Current-Amplitude Frequency Distributions of Single-Channel Recordings

A method is described for estimating rapid rate constants from the distributions of current amplitude observed in single-channel electrical recordings. It has the advantages over previous, similar approaches that it can accommodate both multistate kinetic models and adjustable filtering of the data using an 8-pole Bessel filter. The method is conceptually straightforward: the observed distributions of current amplitude are compared with theoretical distributions derived by combining several simplifying assumptions about the underlying stochastic process with a model of the filter and electrical noise. Parameters are estimated by approximate maximum likelihood. The method was used successfully to estimate rate constants for both a simple two-state kinetic model (the transitions between open and closed states during the rapid gating of an outward-rectifying K⁺-selective channel in the plasma membrane of Acetabularia) and a complex multistate kinetic model (the blockade of the maxi cation channel in the plasma membrane of rye roots by verapamil). For the two-state model, parameters were estimated well, provided that they were not too fast or too slow in relation to the sampling rate. In the three-state model the precision of estimates depended in a complex way on the values of all rate parameters in the model. Received: 4 October 1996/Revised: 2 September 1997     

Gating Kinetics of Single Large-Conductance Ca2+-Activated K+ Channels in High Ca2+ Suggest a Two-Tiered Allosteric Gating Mechanism?

The Ca²⁺-dependent gating mechanism of large-conductance calcium-activated K⁺ (BK) channels from cultured rat skeletal muscle was examined from low (4 μM) to high (1,024 μM) intracellular concentrations of calcium (Ca²⁺ _i) using single-channel recording. Open probability (P _o) increased with increasing Ca²⁺ _i (K _0.5 11.2 ± 0.3 μM at +30 mV, Hill coefficient of 3.5 ± 0.3), reaching a maximum of ∼0.97 for Ca²⁺ _i ∼ 100 μM. Increasing Ca²⁺ _i further to 1,024 μM had little additional effect on either P _o or the single-channel kinetics. The channels gated among at least three to four open and four to five closed states at high levels of Ca²⁺ _i (>100 μM), compared with three to four open and five to seven closed states at lower Ca²⁺ _i. The ability of kinetic schemes to account for the single-channel kinetics was examined with simultaneous maximum likelihood fitting of two-dimensional (2-D) dwell-time distributions obtained from low to high Ca²⁺ _i. Kinetic schemes drawn from the 10-state Monod-Wyman-Changeux model could not describe the dwell-time distributions from low to high Ca²⁺ _i. Kinetic schemes drawn from Eigen''s general model for a ligand-activated tetrameric protein could approximate the dwell-time distributions but not the dependency (correlations) between adjacent intervals at high Ca²⁺ _i. However, models drawn from a general 50 state two-tiered scheme, in which there were 25 closed states on the upper tier and 25 open states on the lower tier, could approximate both the dwell-time distributions and the dependency from low to high Ca²⁺ _i. In the two-tiered model, the BK channel can open directly from each closed state, and a minimum of five open and five closed states are available for gating at any given Ca²⁺ _i. A model that assumed that the apparent Ca²⁺-binding steps can reach a maximum rate at high Ca²⁺ _i could also approximate the gating from low to high Ca²⁺ _i. The considered models can serve as working hypotheses for the gating of BK channels.     

Yet another approach to the dwell-time omission problem of single-channel analysis.

Distortion of the open-time or closed-time distributions of single channel currents, due to limited time resolution of the recording system, has been addressed by many authors. The calculation of the modified distributions generally involves the numerical inversion of a Laplace transform and is difficult to apply in fitting multistate kinetic schemes to data. Our approach is to introduce "virtual states" into the kinetic scheme, as suggested by Blatz and Magleby (1986. Biophys. J. 49:967-980) to account for missed events. To simplify the assignment of rate constants in multistate schemes we make use of Kienker's (1989. Proc. R. Soc. Lond. 236:296-309) theory to first transform schemes to uncoupled form. Our approach provides a good approximation to the exact solution, while allowing the observable dwell-time distributions, and also the second-order probability density functions, to be computed by standard matrix techniques.     

Interference of Shot Noise of Open-Channel Current with Analysis of Fast Gating: Patchers do not (Yet) Have to Care

Microsecond gating of ion channels can be evaluated by fitting beta distributions to amplitude histograms of measured time series. The shape of these histograms is determined not only by the rate constants of the gating process (in relation to the filter frequency) but also by baseline noise and shot noise, resulting from the stochastic nature of ion flow. Under normal temporal resolution, the small shot noise can be ignored. This simplification may no longer be legitimate when rate constants reach the range above 1 μs⁻¹. Here, the influence of shot noise is studied by means of simulated time series for several values of single-channel current of the fully open state and baseline noise. Under realistic optimal conditions (16 pA current, 1 pA noise, 50 kHz bandwidth), ignoring the shot noise leads to an underestimation of the rate constants above 1 μs⁻¹ by a factor of about 2.5. However, in that range, the scatter of the evaluated rate constants is at least of the same magnitude, obscuring the systematic error. The incorporation of shot noise into the analysis will become more important when amplifiers with significantly reduced noise become available.     

Single channel kinetics of a glutamate receptor.

The glutamate receptor-channel of locust muscle membrane was studied using the patch-clamp technique. Muscles were pretreated with concanavalin A to block receptor-channel desensitization, thus facilitating analysis of receptor-channel gating kinetics. Single channel kinetics were analyzed to aid in identification of the molecular basis of channel gating. Channel dwell-time distributions and dwell-time autocorrelation functions were calculated from single channel data recorded in the precence of 10-4M glutamate. Analysis of the dwell time distributions in terms of mixtures of exponential functions revealed there to be at least three open states of the receptor-channel and at least four closed states. Autocorrelation function analysis showed there to be at least three pathways linking the open states with the closed. This results in a minimal scheme for gating of the glutamate receptor-channel, which is suggestive of allosteric models of receptor-channel gating.