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J Appl Physiol 82: 698-703, 1997;
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Journal of Applied Physiology
Vol. 82, No. 2, pp. 698-703, February 1997
SYSTEMIC CIRCULATION AND FLUID BALANCE

SPECIAL COMMUNICATION

Performance of the AM-5600 blood pressure monitor: comparison with ambulatory intra-arterial pressure

Stefano Omboni1, Gianfranco Parati1, Antonella Groppelli1, Luisa Ulian2, and Giuseppe Mancia2

1 Istituto Scientifico Ospedale S. Luca, Centro Auxologico Italiano, 20149 Milan; 2 Cattedra di Medicina Interna, Ospedale S. Gerardo, Monza, Universitá degli Studi di Milano, and Centro di Fisiologia Clinica e Ipertensione, Ospedale Maggiore di Milano, 20122 Milan, Italy

ABSTRACT
INTRODUCTION
METHODS
RESULTS
DISCUSSION
FOOTNOTES
REFERENCES


ABSTRACT

Omboni, Stefano, Gianfranco Parati, Antonella Groppelli, Luisa Ulian, and Giuseppe Mancia. Performance of the AM-5600 blood pressure monitor: comparison with ambulatory intra-arterial pressure. J. Appl. Physiol. 82(2): 698-703, 1997.---The AM-5600 is a new device that simultaneously monitors electrocardiogram (ECG) and noninvasive blood pressure (BP) over a 24-h period. BP readings (Korotkoff sounds and cuff air pressure) are stored into the recorder, allowing the removal of BP artifacts after a visual check. In 12 subjects with essential hypertension, we compared BP values simultaneously provided by the AM-5600 and intra-arterial recordings. At rest, noninvasive systolic BP (SBP) values were lower (5.4 ± 4.9 mmHg) and diastolic BP (DBP) values were higher (7.3 ± 7.3 mmHg) than were intra-arterial values. In ambulatory conditions (9 subjects), between-method discrepancies were +0.8 ± 6.1 and +12.2 ± 7.4 mmHg for 24-h SBP and DBP, respectively. AM-5600 underestimated 24-h intra-arterial SBP and DBP SD, but it accurately tracked intra-arterial SBP and DBP changes. Editing removed 22.1% of total readings, slightly reducing between-method discrepancies. Thus the AM-5600 provides an accurate average estimate of resting and ambulatory SBP and, for DBP, a less accurate estimate that is slightly improved by editing. The AM-5600 allows accurate description of SBP and DBP profiles and thus may be suitable to describe the abrupt BP changes accompanying a number of clinical events.

24-hour ambulatory blood pressure monitoring; noninvasive blood pressure measurement; intra-arterial blood pressure measurement


INTRODUCTION

SEVERAL STUDIES have shown that blood pressure values obtained by noninvasive ambulatory blood pressure monitoring may have limited accuracy. To overcome this problem, standardized validation criteria have been proposed by different national committees (2, 14, 15, 19). However, with the partial exception of the Association for the Advancement of Medical Instrumentation (AAMI) protocol (2, 19), these criteria are based on the comparison between automatic and conventional sphygmomanometric values obtained at rest, and no reference is made to the performance of ambulatory blood pressure-monitoring devices in the conditions for which they are designed, i.e., during daily life (12, 18). This is a serious omission, because even if accurate at rest, a device may be inaccurate in monitoring ambulatory intra-arterial blood pressure (5, 10, 11, 16).

AM-5600 (9) is a novel noninvasive ambulatory blood pressure monitoring device characterized by three potential advantages: 1) blood pressure recordings are based on microphonic criteria that can be replaced by oscillometric criteria if the microphone fails to identify reliable Korotkoff sounds; 2) the reliability of each blood pressure measurement can be checked by plotting the recorded Korotkoff sounds in parallel with the pressure changes within the arm cuff; and 3) blood pressure monitoring is obtained simultaneously with ECG monitoring from two standard leads, electrocardiogram (ECG) ST segment depression having the ability to trigger blood pressure measurements.

The aim of the present study was to evaluate the accuracy of the AM-5600 device, both at rest and in daily life conditions, by comparison with simultaneous intra-arterial blood pressure recording.


METHODS

Subjects. Our study included 12 inpatients with mild-to-moderate essential hypertension (mean age ± SD: 45.9 ± 10.8 yr; 9 males, 3 females). None of the patients had signs of major target organ damage or other major diseases in addition to hypertension. Nine patients were untreated; in the three patients receiving antihypertensive drugs, treatment was discontinued at least 10 days before the study. All patients had an arm circumference <33 cm, and their between-arm difference in mean arterial pressure (simultaneous sphygmomanometric measurements with two arm cuffs connected to the same mercury column) was never >5 mmHg. Each patient gave his or her consent to the study after being informed of its nature and purpose. The study was approved by the Ethics Committee of our institution.

Blood pressure measurements at rest. The experimental session started in the morning between 9 and 10 A.M. Blood pressure was measured simultaneously by an intra-arterial line and by the noninvasive AM-5600 device (Advanced Medical Products, New York, NY) (size 74 × 140 × 29 mm; wt 300 g) while the patient lay supine. To obtain the intra-arterial line, a small catheter (11 cm long, 1.3 mm ID) was percutaneously inserted into the brachial artery of the nondominant arm (Seldinger technique) after local anesthesia with 2% lidocaine. A rigid polyethylene tube, filled with a heparinized saline solution, was used to connect the catheter to a Statham P23 ID pressure transducer (Statham Division, Gould, Oxnard, CA), which was positioned at the patient's heart level. The intra-arterial signal was sent to a Gould RS 3800 strip-chart recorder (Gould, Recording System Division, Cleveland, OH) to allow graphic display of the pulsatile blood pressure waveform and to make a record on paper for further analysis. The speed of the polygraph was set at 0.5 mm/s and was increased up to 1 mm/s any time a measurement by the noninvasive recorder was started.

The AM-5600 monitor is a blood pressure-monitoring device that measures blood pressure by the microphonic technique and, only when this technique is not possible, by the oscillometric method. This was done by manufacturers, as for other blood pressure-monitoring devices (5, 10, 11, 14-16, 18-19), to provide blood pressure readings as close as possible to those traditionally obtained by the Riva Rocci sphygmomanometer. The cuff of the AM-5600 (standard adult size, 12-cm width) was wrapped around the middle portion of the dominant arm. The microphone attached to the cuff was carefully positioned on the brachial artery, immediately above the antecubital fossa. Five adhesive electrodes were applied over the chest and were connected to the monitor to simultaneously obtain two standard ECG leads. The accuracy of the AM-5600 pressure transducer was checked against a mercury column by applying five consecutive 50-mmHg steps from 0 to 250 mmHg. Blood pressure measurements were programmed at 2-min intervals over a 20-min period. Comparison with intra-arterial values started 15-20 min after cannulation of the brachial artery and fitting of the noninvasive recorder.

Simultaneous comparison of automatic AM-5600 blood pressure measurements, intra-arterial blood pressure measurements, and sphygmomanometric auscultatory measurements was not considered because 1) on the arm instrumented with the brachial arterial catheter, inflation of the sphygmomanometric cuff for auscultatory readings interfered with the intra-arterial blood pressure signal, and 2) auscultatory readings by the stethoscope of the sphygmomanometer could only be obtained from a side distal to the site where the AM-5600 device microphone was positioned, yielding different results. A previous study has shown, however, that AM-5600 readings at rest satisfactorily agree with sphygmomanometric auscultatory readings (9).

Blood pressure measurements in ambulatory conditions. In nine subjects, data obtained by AM-5600 were compared with intra-arterial blood pressure values also in ambulatory conditions. For this purpose, the AM-5600 was programmed to measure blood pressure at 10-min intervals during the day (from 6 A.M. to midnight) and at 20-min intervals during the night (from midnight to 6 A.M.). Continuous ECG and blood pressure measurements were stored in the solid memory support of the portable monitor for further analysis. The intra-arterial line used to measure blood pressure at rest was connected to an Oxford transducing-perfusing unit capable of recording blood pressure throughout the 24 h by storing the intra-arterial signal on a magnetic tape cassette recorder bound to the subject's waist (3). The Oxford device had a frequency response of -3 dB at 8-10 Hz; its signal was linear between 50 and 250 mmHg when calibrated against a mercury column before and after the 24-h recording period, with no substantial drift of the zero signal. Further technical details are reported in previous studies (3).

In each patient, the ambulatory blood pressure recording started at 1 PM, i.e., after collection of data at rest. During the recording, the patient was free to move within the hospital buildings and gardens and to engage in the social activities of the hospital inpatients (watching TV, visiting with relatives, playing cards). Each patient was asked only to comply with the hospital meal and bedtimes and to remain with his/her arm still at the time of each automatic blood pressure measurement. The patients were also asked to report in a diary the kind of activity they were engaged in at the time of each measurement. An investigator visited the patient during the recording period to check for possible problems with either the noninvasive or the intra-arterial devices.

Data analysis of resting values. The blood pressure measurements and the continuous ECG tracing stored in the memory of the noninvasive recorder were sent to an AST Bravo 486/25 personal computer (AST Research, Irvine, CA) via a parallel interface. As shown in Fig. 1, top, for each blood pressure measurement, Korotkoff sounds and cuff air pressure were simultaneously displayed in parallel with an ECG lead. Because the display of these noninvasive signals with the concomitant intra-arterial blood pressure signal was not possible (because AM-5600 does not provide the real-time output of Korotkoff sounds and cuff air pressure), the coupling of each noninvasive blood pressure measurement with the simultaneous intra-arterial value was made as follows. 1) The AM-5600 monitor was programmed to inflate the cuff up to 200 mmHg, and the deflation rate was set at 4 mmHg/s down to a pressure of 40 mmHg, at which point the air pump valve was fully opened to allow quick deflation to 0 mmHg. 2) The beginning and the end of the cuff deflation were identified on the chart by an event marker. The cuff air pressures corresponding to the first and the fifth Korotkoff sounds were identified as systolic and diastolic blood pressure values and compared with the corresponding intra-arterial values. The latter values were selected by 1) counting the number of QRS complexes in the ECG tracing from the time when cuff deflation started (event marker) to the time of appearance of Korotkoff first and fifth sounds, respectively; 2) counting the corresponding number of intra-arterial blood pressure waveforms from the initial event marker; and 3) averaging the intra-arterial systolic and diastolic blood pressure values of the beat selected with the values derived from the preceding and the following beats.
Fig. 1. Examples of correct blood pressure reading provided by AM-5600 recorder (top) and of artifactual reading (middle). Bottom: artifactual reading was automatically recognized by the device and blood pressure was measured by oscillometric (osc) technique. aus, Auscultatory reading
[View Larger Version of this Image (100K GIF file)]

The agreement between the AM-5600 values and the intra-arterial values was tested by calculating the between-method difference in each subject and by averaging mean individual differences for the group as a whole (4). Furthermore, we calculated the SD of the individual mean differences, the average of the individual SD for the group as a whole, and the 95% confidence limits of the mean between-method difference when all measurements obtained in the 12 subjects (n = 122) were pooled.

Data analysis in ambulatory conditions. The 24-h intra-arterial signal recorded on the Oxford tape was replayed at 60 × the real time and displayed on an oscilloscope to check its quality and exclude possible artifacts (dampening of the signal, ectopic beats, and so on). The edited signal was sent to a Digital PDP 11/23 computer (Digital Equipment, Maynard, MA), sampled at 165 Hz, digitized on 12 bits, and stored on a magnetic disk. Systolic and diastolic blood pressures were computed over consecutive 3-s segments. These segments were used to calculate 24-h average values, hourly average values, and 24-h SD, the last being taken as an index of blood pressure variability. These values were compared with the corresponding values provided by the AM-5600 recorder. The comparison did not involve individual measurements, because during ambulatory monitoring it was not possible to synchronize the occurrence of each noninvasive measurement with the corresponding intra-arterial value, as done at rest. It should be emphasized that, even though we included in our analysis 9 rather than 15 subjects, as recommended by AAMI standards, comparisons of AM-5600 blood pressure values with intra-arterial blood pressure values over the 24 h in ambulatory conditions provided a number of data and a range of conditions greater than those required by the AAMI and other guidelines (2, 14, 15, 19) on validation of ambulatory blood pressure-monitoring devices.

In addition, each blood pressure value provided by the AM-5600 recorder was displayed on the computer screen along with the corresponding Korotkoff sound and cuff air pressure. This allowed us to identify several blood pressure readings originating from artifactual Korotkoff sounds (Fig. 1, middle) that had not been recognized and automatically replaced by oscillometric criteria (Fig. 1, bottom). These readings (22.1 ± 9.5% of total 24-h readings, 20.1 ± 9.0% of daytime readings, and 2.0 ± 1.8% of nighttime readings) were removed, and comparison with the 24-h and hourly average intra-arterial values was thus made also after full editing of noninvasive values.

Ambulatory blood pressure data from individual subjects were averaged to obtain mean values for the group as a whole. The statistical significance of the differences between the AM-5600 and intra-arterial data was assessed by a paired Student's t-test (with Bonferroni correction when multiple comparisons were performed). The Pearson chi 2 test of independence was used to assess the degree of concordance or discordance in the hour-to-hour blood pressure changes detected by the intra-arterial and noninvasive methods. These hour-to-hour changes were quantified by computing the difference between the average systolic and diastolic blood pressure values of 1 h of the recording and those derived from the preceding one. The relationship between the directional changes of the values provided by the two methods was quantified by computing the chi 2 (2) and the contingency (C) coefficients. The chi 2 test is based on the assumption that the sets of data obtained by two methods are independent, a statistically significant chi 2 rejecting this assumption and thus proving dependency. C is taken as an index of correlation between data obtained by the two methods (11). Results were always shown as mean values ± SD, unless differently indicated. P < 0.05 was set as the minimum level of statistical significance. All computations were carried out by a commercially available statistical package (SPSS/PC+, SPSS, Cary, NC; Ref. 13).


RESULTS

Blood pressure measurements at rest. As shown in Table 1, the systolic blood pressure values measured by AM-5600 at rest were in most subjects less than those obtained intra-arterially. In contrast, the diastolic blood pressure values measured at rest by AM-5600 were in most subjects greater than the intra-arterial ones. The individual SD ranged from 1.2 to 8.6 mmHg. The mean between-method discrepancies in the group as a whole were -5.4 and +7.9 mmHg for systolic and diastolic blood pressure, respectively (P < 0.01 for both). The means of the corresponding individual SD were 3.5 and 3.6 mmHg, respectively.

Table 1. Average discrepancy between blood pressure values measured at rest by AM-5600 recorder and by intra-arterial catheter in 12 subjects


Patient SBP, mmHg DBP, mmHg

TC  -3.0 ± 2.6  5.2 ± 3.0 
GG 3.9 ± 2.8  14.2 ± 3.5 
MA  -14.7 ± 2.9  9.4 ± 3.1 
AA  -4.6 ± 2.1  9.1 ± 2.4 
SF  -5.7 ± 4.9  10.8 ± 8.3 
SP  -5.3 ± 2.1  18.4 ± 2.1 
FL  -8.6 ± 3.8  10.9 ± 1.8 
ML  -8.4 ± 1.2   -3.1 ± 3.4 
PW  -6.6 ± 2.0   -8.4 ± 3.3 
PF 0.8 ± 2.4  4.8 ± 2.1 
DGA  -10.1 ± 8.6  10.1 ± 5.1 
SP  -2.8 ± 6.6  5.8 ± 4.9 
Mean  -5.4 ± 3.5  7.3 ± 3.6

Values are mean ± SD discrepancies for each individual subject. Mean discrepancy for group as a whole is displayed on bottom line. SBP, systolic blood pressure; DBP, diastolic blood pressure.

Figure 2 shows the between-method discrepancy for each individual measurement collected at rest in the 12 subjects (n = 122 measurements) plotted against the concomitant intra-arterial values. For diastolic blood pressure, the between-method discrepancy was similar at low and high intra-arterial blood pressures, whereas for systolic blood pressure there was a tendency for AM-5600 values to move from an overestimation to an underestimation on going from the lower to the higher portion of the intra-arterial blood pressure range. The confidence limits were much wider for diastolic than for systolic blood pressure discrepancy.
Fig. 2. Scatterplot showing discrepancies (Delta ) between AM-5600 and intra-arterial systolic blood pressure (SBP, left) and diastolic blood pressure (DBP, right) values at rest. Points refer to the between-method discrepancy for each blood pressure measurement in 12 subjects (total, n = 122). Dashed and continuous lines refer to average discrepancies and to their 95% confidence intervals, respectively. Individual discrepancies are plotted vs. corresponding intra-arterial blood pressures.
[View Larger Version of this Image (16K GIF file)]

Average 24-h and hourly blood pressures. As shown in Table 2, before editing of artifacts, the average 24-h blood pressure values obtained by AM-5600 and intra-arterially showed variable discrepancies between subjects. The mean discrepancy in the group as a whole was 0.8 mmHg (not significant) for systolic and 12.2 mmHg (P < 0.01) for diastolic blood pressure. Thus, in ambulatory conditions, the overall systolic blood pressure discrepancy was less than at rest, whereas the average diastolic blood pressure discrepancy was greater than at rest. After removal of artifacts, the 24-h between-method discrepancies were reduced, but the reductions were small and not statistically significant.

Table 2. Average discrepancy between 24-h average blood pressure values measured by AM-5600 recorder and intra-arterially in 9 subjects


Patient 24-h SBP, mmHg
24-h DBP, mmHg
Intraarterial  Delta Before editing  Delta After editing Intraarterial  Delta Before editing  Delta After editing

TC 133.8 7.7 6.1 95.1 20.3 19.1
GG 117.1 6.0 3.6 82.5 14.7 12.6
MA 154.1  -0.7  -3.3 96.5 10.6 9.2
SP 167.7  -5.8  -6.5 101.4 20.7 19.6
FL 121.9 7.2 7.6 91.4 19.7 19.9
ML 136.0  -4.6  -4.8 90.2 0.8 0.1
PW 132.6 7.1 7.3 85.0 13.6 13.1
PF 156.3  -6.3  -6.2 84.0 5.3 5.2
SP 125.5  -3.6  -4.7 78.9 4.5 4.4
Mean 138.3 0.8  -0.1 78.0 12.2 11.5

Values are mean discrepancies for each individual subject and for group as a whole. SBP and DBP data are separately shown. Differences (Delta ) were computed before and after editing of noninvasive measurements. Both for SBP and DBP, average 24-h intra-arterial values are shown in far left column.

Figure 3 shows that the small between-method discrepancy seen in ambulatory conditions for 24-h average systolic blood pressure characterized almost each hour of the day and night periods. Similarly, the greater between-method discrepancy of 24-h average diastolic blood pressure was evident throughout the day and night.
Fig. 3. SBP and DBP hourly values obtained intra-arterially (bullet ) and noninvasively (open circle ). Noninvasive hourly averages were computed after editing of blood pressure artifacts. Data are shown as hourly averages ± SE from 9 subjects. In each panel, larger symbols on right refer to 24-h mean values. ** Statistically significant difference between 24-h mean values; P < 0.01.
[View Larger Version of this Image (15K GIF file)]

Blood pressure variability. As shown in Fig. 4, the individual 24-h SD of systolic and diastolic blood pressure were significantly lower when estimated by the AM-5600 than intra-arterially (P < 0.01). A further nonsignificant reduction was observed after editing. Thus, noninvasive ambulatory blood pressure recording underestimates the magnitude of overall 24-h blood pressure variations. However, when blood pressure variations were assessed as changes between hourly averages, the results obtained by the intra-arterial method and by the AM-5600 (edited data) were similar (Fig. 5).
Fig. 4. Individual 24-h SD of SBP and DBP computed from intra-arterial (bullet , IA) and noninvasive (open circle , AM-5600) recordings. The latter were obtained before and after editing of artifacts. square , Average data for group as a whole. ** Statistically significant difference between different sets of data; P < 0.01.
[View Larger Version of this Image (22K GIF file)]


Fig. 5. Comparison of consecutive hour-to-hour changes in intra-arterial (bullet ) and noninvasive (open circle ) SBP and DBP values. Noninvasive data are shown after removal of blood pressure artifacts. Bottom: results of chi 2 test.
[View Larger Version of this Image (22K GIF file)]


DISCUSSION

Our study shows that the AM-5600 device underestimates at-rest intra-arterial systolic blood pressure and overestimates intra-arterial diastolic blood pressure by ~5 and 7 mmHg, respectively. These under- and overestimations may be due to a limited accuracy of the AM-5600 device. However, similar discrepancies have been reported when resting blood pressures taken by a mercury sphygmomanometer have been compared with intra-arterial values (8). Thus, it is likely that the results we obtained are accounted for by inherent differences between blood pressures measured indirectly and directly and that the overall performance of the AM-5600 with subjects at rest (i.e., measuring device plus algorithm) is at least as satisfactory as that provided by sphygmomanometry.

The main result of our study, however, is that the performance of the AM-5600 was different in ambulatory conditions compared with at rest. The difference was that, although with noticeable individual variations, the average discrepancy between AM-5600 and intra-arterial systolic blood pressure was less during the 24-h period than at rest. On the contrary, the average discrepancy between AM-5600 and intra-arterial diastolic blood pressure was greater during the 24-h period than at rest. This provides further evidence that because of inadequacy of the measuring device and/or algorithms used to identify blood pressure values (5, 10, 11, 16), testing a noninvasive blood pressure-monitoring device at rest may not predict the performance of the device in daily life conditions. The adequacy of the device and algorithms needs to be addressed by comparison with simultaneous intra-arterial blood pressure monitoring, which thus is a necessary step in noninvasive ambulatory blood pressure-monitoring device testing. All the above observations hold true for average group values. It should be emphasized, however, that the between-method discrepancies in systolic and diastolic blood pressure were characterized by a large interindividual variability, which requires conclusions on the accuracy of the AM-5600 device in any individual subject to be drawn with caution.

Our observations do not allow us to reach a definite conclusion as to whether the AM-5600 is better or worse than other noninvasive devices, because this would require comparing the devices in the same subjects. However, several favorable features of the AM-5600 should be emphasized. 1) Compared with other devices we tested, AM-5600 provides an estimate of 24-h average systolic blood pressure close to the intra-arterial value (5, 11). 2) A close correspondence between AM-5600 and intra-arterial systolic blood pressure was evident not only for the 24-h average but also for almost each hour of the 24-h time. 3) The hour-to-hour systolic and diastolic blood pressure changes provided by AM-5600 were nearly always qualitatively and quantitatively similar to the changes occurring intra-arterially. Finally, the AM-5600 editing procedure made it possible to reduce, although to only a limited extent, the discrepancy with the intra-arterial values.

Despite the ability of AM-5600 to reflect accurately hour-to-hour blood pressure changes, the estimate of overall 24-h blood pressure variability by AM-5600 was different from the real variability value derived from intra-arterial recording. For both systolic and diastolic blood pressure, the difference consisted in an underestimation of the real variability phenomena. The underestimation was a substantial one, because the AM-5600 systolic and diastolic 24-h SD were ~20-30% less than the corresponding intra-arterial ones. This expands our previous results (7) that showed 1) actual blood pressure variability may be inaccurately quantified by intermittent blood pressure sampling, and 2) this is particularly the case if the between-sample interval is too long, presumably because a long interval without sampling prevents short-term blood pressure changes from being detected. These observations strengthen the conclusion that estimates of blood pressure variability obtained noninvasively should be interpreted with caution.

Our data permit three further considerations. 1) In our study, intra-arterial blood pressure was taken as the gold standard, both at rest and in ambulatory conditions. However, some error in intra-arterial blood pressure values might have occurred, particularly in ambulatory conditions because of movement artifacts, dampening of the intra-arterial signal caused by blood clotting, small air bubbles in the catheter-transducing system, and drift of the zero signal with time. Thus, although the accuracy of intra-arterial blood pressure measurements was always carefully checked, it is not possible to exclude the possibility that, at least to some degree, the between-method discrepancy was not accounted for by the AM-5600. 2) Our conclusion regarding AM-5600 applies to the type of patients we studied, and the performance of the device in other categories of patients (e.g., subjects with severe hypertension or hypotension, elderly subjects, and obese subjects) has to be separately tested. This need for expanded testing is supported by our observations that the AM-5600 intra-arterial systolic blood pressure discrepancy at rest showed a tendency to change with the increasing baseline blood pressure value.

Finally, the ability of AM-5600 to closely reflect changes in hourly systolic and diastolic blood pressure implies that this device is capable of accurately detecting the blood pressure increases and reductions that may occur during a 24-h time period and that can be associated with important clinical events, such as angina pectoris and silent myocardial ischemia (2, 6, 17).


FOOTNOTES

Address for reprint requests: S. Omboni, Centro di Fisiologia Clinica e Ipertensione, Ospedale Maggiore, Via F. Sforza 35, 20122 Milano, Italy (E-mail: DARKSIDE{at}ZEROCITY.IT).

Received 29 March 1996; accepted in final form 26 September 1996.


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