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J Appl Physiol 86: 222-229, 1999;
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Vol. 86, Issue 1, 222-229, January 1999

Effects of dopamine and domperidone on ventilatory sensitivity to hypoxia after 8 h of isocapnic hypoxia

Michala E. F. Pedersen, Keith L. Dorrington, and Peter A. Robbins

University Laboratory of Physiology, University of Oxford, Oxford OX1 3PT, United Kingdom

    ABSTRACT
Top
Abstract
Introduction
References

Acclimatization to altitude involves an increase in the acute hypoxic ventilatory response (AHVR). Because low-dose dopamine decreases AHVR and domperidone increases AHVR, the increase in AHVR at altitude may be generated by a decrease in peripheral dopaminergic activity. The AHVR of nine subjects was determined with and without a prior period of 8 h of isocapnic hypoxia under each of three pharmacological conditions: 1) control, with no drug administered; 2) dopamine (3 µg · min-1 · kg-1); and 3) domperidone (Motilin, 40 mg). AHVR increased after hypoxia (P <=  0.001). Dopamine decreased (P <=  0.01), and domperidone increased (P <=  0.005) AHVR. The effect of both drugs on AHVR appeared larger after hypoxia, an observation supported by a significant interaction between prior hypoxia and drug in the analysis of variance (P <=  0.05). Although the increased effect of domperidone after hypoxia of 0.40 l · min-1 · %saturation-1 [95% confidence interval (CI) -0.11 to 0.92 l · min-1 · %-1] did not reach significance, the lower limit for this confidence interval suggests that little of the increase in AHVR after sustained hypoxia was brought about by a decrease in peripheral dopaminergic inhibition.

acute hypoxic ventilatory response; hypoxic sensitivity; acclimatization

    INTRODUCTION
Top
Abstract
Introduction
References

VENTILATORY ACCLIMATIZATION to altitude involves a progressive rise in ventilation and a progressive fall in the arterial partial pressure of CO2. The processes underlying this phenomenon are incompletely understood. Part of the response involves an elevation in the acute hypoxic ventilatory response (AHVR) (10, 11, 22, 30), and there is evidence from animal work that this arises in the carotid body (CB) (5). However, the actual mechanism associated with this has not been fully elucidated.

In view of the abundance of dopamine in the CB (9), and the finding that exogenous administration of dopamine decreases the ventilatory response to hypoxia (2, 3, 8, 21, 26, 27, 29), one possibility is that the increase in AHVR during acclimatization to altitude is related to some reduction in dopaminergic activity. This has recently been investigated in cats by Tatsumi et al. (23). They compared the influence of dopaminergic blockade on hypoxic responses before and after acclimatization and found that peripheral dopaminergic blockade increased ventilatory and CB responses to hypoxia before, but not after, acclimatization. They concluded that the activity of inhibitory dopaminergic mechanisms within the CB is decreased after sustained hypoxic exposure and that this lessening of inhibition may contribute to the enhancement of AHVR in acclimatization to altitude.

The purpose of the present study was to investigate whether such a reduction in the activity of inhibitory dopaminergic mechanisms could also be detected in humans. The study compared the effects of dopaminergic blockade on AHVR with and without a prior period of sustained hypoxia. To determine whether there are any changes in the sensitivity to dopamine, the study also compared the inhibitory effects on AHVR of low-dose dopamine infusions with and without prior sustained hypoxia.

    METHODS

Subjects. Eleven healthy adults, seven men and four women, were studied. Their average age was 23.4 ± 1.1 (SD) yr, average weight was 70.3 ± 2.9 kg, and average height was 177.2 ± 2.5 cm. All subjects received written and verbal descriptions of the experiment before they gave their consent. Subjects were naive as to the precise purpose of the study and the particular protocol employed on the day. The study was approved by the Central Oxford Research Ethics Committee.

Protocols. Each subject was studied both with and without an antecedent period of 8 h of isocapnic hypoxia under each of the following three pharmacological conditions: 1) control, with no drug administered; 2) dopamine; and 3) domperidone. This gave a total of six different protocols. These were undertaken on 6 different days in random order. Each protocol involving prolonged hypoxia was followed by a period of at least 1 wk in which no experiments were conducted on that subject; the remaining experiments were separated by at least 24 h. In each case, the purpose was to determine AHVR.

For protocols involving dopamine, an infusion of 3 µg · min-1 · kg-1 was started 15 min in advance of beginning the measurement of AHVR. Before and during infusions, blood pressure was measured regularly with a sphygmomanometer. For protocols involving domperidone, an oral dose of 40 mg was given 1 h in advance of the measurement of AHVR. On days involving prior exposure to hypoxia, the subjects' end-tidal PO2 (PETO2) was held at 55 Torr for 8 h and the subjects' end-tidal PCO2 (PETCO2) was held at their natural prehypoxic value. A period of 30 min of breathing room air was allowed before the determination of AHVR. Thus, for the posthypoxic studies, dopamine infusions were always started after the 8-h exposure to hypoxia, but the administration of domperidone was undertaken 30 min before the end of the 8-h period.

Measurements of AHVR were undertaken with PETCO2 held constant throughout at 1-2 Torr above subjects' normal level. PETO2 was held at 100 Torr for the first 5 min and then varied in a set of six square waves, each of a period of 120 s, alternating between 50 and 100 Torr.

Hypoxic exposures. The sustained hypoxic exposures were obtained by varying the gas composition in a purpose-built chamber. In the chamber, subjects were free to move around if they desired. Most spent their time sitting comfortably watching television or reading. Respired gas was sampled via a nasal catheter and analyzed by mass spectrometry. The PCO2 and PO2 signals were sampled by computer, and the end-tidal values were determined breath by breath. These values were used in a feedback algorithm to adjust the chamber composition every 5 min to force the end-tidal values of the subject toward the desired levels. A pulse oximeter was used to monitor the arterial saturation in the subject, and there was a separate oxygen monitor with an alarm inside the chamber (for a full description of chamber and gas-controlling system, see Ref. 13).

Measurement of AHVR. Measurements of AHVR were made outside the chamber by using an end-tidal forcing system. This system required subjects to breathe through a mouthpiece with the nose occluded. The mouthpiece was connected in series with a turbine volume-measuring device (15) and a pneumotachograph to measure respiratory volumes and flows. Gas was continuously sampled at the mouth and analyzed for PO2 and PCO2 by mass spectrometry. All experimental data were recorded in real time at a sampling frequency of 50 Hz by a computer that also determined PETO2 and PETCO2 together with the inspiratory and expiratory volumes and durations. The end-tidal gas values were then passed, breath by breath, to a second computer, which controlled a fast-responding gas-mixing system. The computer controlling the gas-mixing system compared the actual end-tidal values with the desired values, and, to obtain the desired end-tidal profile, made appropriate adjustments to the inspired gas on a breath-by-breath basis. A pulse oximeter was attached to a finger to monitor oxygen saturation, and electrodes were placed on the chest to obtain the electrocardiogram. The details of the forcing procedure and the gas-mixing system are described in greater detail elsewhere (14, 20).

Data analysis. The breath-by-breath data sequence used to assess AHVR was 14 min in length. It was composed of the 2-min period immediately before the square-wave hypoxic stimulation began, together with the data from the 6 repeats of the 120-s hypoxic square wave (each repeat consisted of 60 s at PETO2 = 50 Torr and 60 s at PETO2 = 100 Torr). The number of breaths in this data sequence varied between 131 and 385. To obtain numerical values for AHVR, a model of the respiratory response to hypoxia was fitted to each of the individual data sequences. The model used was model 3 as described by Clement and Robbins (6). This single-compartment model has four parameters: hypoxic sensitivity, Gp (l/min); residual ventilation in the absence of hypoxia, Vc (l/min); a pure delay for the lag between the hypoxic stimulus at the lung and the ventilatory response, T (s); and a time constant, tau  (s). These parameters were estimated by nonlinear regression [for full details, see Clement and Robbins (6)]. The values for Gp from the model were taken as the estimates of AHVR.

Differences between the responses to hypoxia were assessed statistically by use of ANOVA, with subjects as a random factor, drug (control, dopamine, or domperidone) as a fixed factor, and presence or absence of prior sustained hypoxia (before, after) as a fixed factor, together with the interactive terms. ANOVA was undertaken by using the SPSS statistical software package. Post hoc comparisons and confidence intervals were based on the Studentized range to allow for multiple comparisons (1). P <=  0.05 was taken as statistically significant.

    RESULTS

None of the subjects had any side effects from the dopamine infusion or from the administration of domperidone. Blood pressure did not change substantially in any subject during the administration of dopamine.

Quality of gas control in the chamber. The quality of the gas control obtained in the chamber is illustrated in Fig. 1. PETCO2 and PETO2, averaged on a 5-min basis, are shown individually for each of the three exposures in each subject. PETO2 was maintained constant at close to 55 Torr in all exposures. PETCO2 was kept almost constant throughout the 8 h at the individual prehypoxic control values.


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Fig. 1.   Gas control during 8 h of isocapnic hypoxia in chamber averaged on a 5-min basis. All 3 exposures are shown for all 9 subjects. A: end-tidal PO2 (PETO2; target value 55 Torr). B: end-tidal PCO2 (PETCO2; target values differ between experiments).

Quality of gas control during measurement of AHVR. An example of one experiment to determine AHVR is shown in Fig. 2. PETCO2 was reasonably constant throughout. PETO2 was lowered and raised abruptly at the onset and relief of hypoxia, with some overshoot at the relief of hypoxia. These findings were typical of all determinations of AHVR.


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Fig. 2.   Breath-by-breath ventilatory response (A) and breath-by-breath end-tidal gas control (B and C) for a single measurement of acute hypoxic ventilatory response from 1 subject (subject 1015, posthypoxia, with domperidone).

Ventilatory responses. Figure 3 shows an example of one set of results for each protocol from one subject (subject 1015). This subject demonstrated repeatable responses to the successive square waves of hypoxia for all protocols except for the posthypoxic dopamine experiment. All other subjects generally demonstrated repeatable responses to the hypoxic square waves, although, as for subject 1015, there were sets of data for which the hypoxic responses were less steady. Also shown in the figure is the fit of the model to the data. In general this describes the data well.


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Fig. 3.   Breath-by-breath ventilatory responses to square-wave hypoxia for each experiment for 1 subject (subject 1015). A: control. B: during infusion of dopamine. C: after administration of domperidone. open circle , Responses before 8 h of isocapnic hypoxia; bullet , after 8 h of isocapnic hypoxia; solid lines, fitted model response.

For the data in Fig. 3, it can be seen that dopamine appears to decrease and domperidone appears to increase AHVR. After the exposure to prolonged hypoxia, the magnitude of AHVR under all conditions appears increased.

The magnitude of AHVR in each of the different protocols for each subject was quantified via the values obtained for Gp in the model. Values for Gp are listed in Table 1 for each subject, and the mean values for each of the different protocols are illustrated in Fig. 4A. ANOVA on Gp revealed significant effects for drug as the fixed factor (P <=  0.005), presence or absence of hypoxia (P <=  0.001), and for the interactive term between these two factors (P <=  0.05). Post hoc analysis revealed both a significant decrease in Gp of 0.40 l · min-1 · %-1 (95% CI 0.12-0.69 l · min-1 · %-1, P <=  0.01) with dopamine and a significant increase in Gp of 0.45 l · min-1 · %-1 (95% CI 0.17-0.73 l · min-1 · %-1, P <=  0.005) with domperidone. The mean increase in Gp after hypoxic exposure was 0.62 l · min-1 · %-1 (95% CI 0.41-0.83 l · min-1 · %-1). Although the significant interactive term indicates that the effects of drug and prior exposure to hypoxia were not simply additive, after hypoxic exposure neither the increased effect of dopamine on Gp [0.18 l · min-1 · %-1, 95% CI -0.34 to 0.69 l · min-1 · %-1, P = not significant (NS)] nor the increased effect of domperidone on Gp (0.40 l · min-1 · %-1, 95% CI -0.11 to 0.92 l · min-1 · %-1, P = NS) reached significance (although the difference in Gp between domperidone and dopamine did widen significantly by 0.56 l · min-1 · %-1, 95% CI 0.06-1.06 l · min-1 · %-1, P <=  0.05).

                              
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Table 1.   Individual hypoxic sensitivities and residual ventilations before and after 8 h of isocapnic hypoxia in each pharmacological condition


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Fig. 4.   Effect of domperidone () and dopamine (bullet ) on hypoxic sensitivity before and after 8 h of isocapnic hypoxia in absolute values (A) and relative to control (B). Values are average of all subjects; error bars, SE.

From the data in Fig. 4A, it appears that the significant interaction term in the ANOVA may have arisen because the effect of the drugs increased in proportion to the general increase in Gp due to the prolonged hypoxia. This is investigated in Fig. 4B, where the control values for Gp with and without prior hypoxia have been set to 100% and the values of Gp for dopamine and domperidone have been expressed as a percentage of these. This figure illustrates that, when expressed as a percentage of the relevant control value, the effects of dopamine and domperidone became rather more similar before and after prolonged hypoxia. A repeat of the ANOVA on the log values for Gp revealed that the interactive term between hypoxia and drug was no longer significant.

Table 1 lists the values obtained for Vc from the modeling process, and Fig. 5 shows the changes in the mean values for this parameter. Vc appears to have increased after the 8-h hypoxic exposure. Dopamine appears to have depressed the value of Vc, whereas domperidone appears to have had little effect on the value of Vc. ANOVA on Vc revealed that there was a significant effect of drug as the fixed factor (P <=  0.05), that the increase in Vc after hypoxic exposure was significant (P <=  0.001), and that the interactive term between these two fixed factors (drug and presence or absence of hypoxia) was nonsignificant. Post hoc analysis revealed that the decrease in Vc with dopamine of 4.72 l/min (95% CI 1.37-8.07 l/min, P <=  0.01) was significant, whereas the small increase in Vc with domperidone of 0.56 l/min (95% CI -2.79 to 3.92 l/min, P = NS) was not. The mean increase in Vc after hypoxic exposure was 6.33 l/min (95% CI 3.88-8.77 l/min).


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Fig. 5.   Effect of domperidone () and dopamine (bullet ) on residual ventilation (Vc) before and after 8 h of isocapnic hypoxia. Values are average of all subjects; error bars, SE.

Values for the time constants and pure delays estimated from the model are listed in Table 2. Any effects of the hypoxic exposure or of drug appear small, and no significant differences were detected for any of these factors by ANOVA.

                              
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Table 2.   Individual values for the time constants and pure delays for the hypoxic responses before and after 8 h of isocapnic hypoxia in each pharmacological condition

    DISCUSSION

This study found no evidence that a reduction in dopaminergic inhibition underlay the increase in AHVR that was observed after sustained hypoxic exposure. Rather, it appeared that the effects of both dopamine infusion and domperidone administration increased in proportion to the overall increase in AHVR after hypoxic exposure, an observation supported by a significant interactive term between prior hypoxia and drug in the ANOVA. Although the 95% CI for the increase in effect of domperidone after hypoxic exposure of -0.11 to 0.92 l · min-1 · %-1 includes zero, and it is therefore impossible to exclude some reduction in the effect of domperidone after hypoxic exposure, the lower limit of the CI is small compared with the rise in AHVR after hypoxic exposure of 0.62 l · min-1 · %-1 (95% CI 0.41-0.83 l · min-1 · %-1). This result suggests that little of the increase in AHVR after sustained hypoxia could have been brought about by a decrease in peripheral dopaminergic inhibition. This finding is in contrast to the findings of Tatsumi et al. (23) in cats, in which a marked reduction in the effect of domperidone on AHVR was detected.

A second subsidiary finding was that low-dose dopamine, but not domperidone, altered (reduced) the estimated level of ventilation in hyperoxia obtained as part of the model-fitting process.

Experimental issues relating to the present study. The technique used in the present study to assess AHVR was to switch PETO2 repeatedly between 50 and 100 Torr in a series of square waves with a period of 2 min. This technique has the theoretical advantage over an incremental exposure to hypoxia that the results should be relatively unaffected by a varying baseline ventilation. It was also associated with a relatively low total exposure to hypoxia that should have helped to minimize the degree of hypoxic ventilatory decline that developed over the period of the measurement. The mean control value for AHVR of 0.72 ± 0.07 (SE) l · min-1 · %-1 compares favorably with a value of 0.74 l · min-1 · %-1 for 97 subjects from a recent study (24) with (an admittedly imperfect) protocol using incremental hypoxia. The value also compares well with a resting value of 180 for parameter "A" in the equation of Weil et al. (28), which was obtained by using a protocol involving incremental hypoxia (this equates to a sensitivity of ~0.66 l · min-1 · %-1). However, the value compares less well with the mean "Delta V40" of 19.4 liters/ (min × m2) of Kronenberg et al. (17), obtained by using incremental hypoxia, which equates to a sensitivity of ~1.45 l · min-1 · %-1.

This study did not seek to determine whether the dose of domperidone employed was actually sufficient to block the effects of exogenously administered dopamine. However, Ward (25) has reported that the effect of a 3 µg · kg-1 · min-1 infusion of dopamine on the ventilatory sensitivity to hypoxia was completely abolished after intravenous administration of 10 mg of domperidone. Taking into account that the bioavailability of orally administered domperidone is low at ~15% (4), the dose employed in the present study may be equivalent to only 60% of the dose employed by Ward. Despite the fact that the dose in the present study was lower, the difference is very small in relation to overall range of concentrations in a typical dose-response relationship, which may span several orders of magnitude. Thus the blockade is likely to be near to complete. This conclusion is also supported by work in anesthetized animals, where an intravenous dose of domperidone as low as 1 µg/kg (~1% of that employed in the present study) shifted the dose-response curve for dopamine-induced chemosensory inhibition to the right, and a dose of 45 µg/kg (equivalent to ~53% of that employed in the present study) completely abolished the chemosensory inhibition at all levels of dopamine administration (31).

Comparisons with other studies. As noted above, the results from the study by Tatsumi et al. (23) appear dissimilar from ours. This arises presumably from either a difference in methods between the studies or a species difference.

In relation to the method of study, Tatsumi et al. (23) acclimatized their cats for 2 days at a barometric pressure of 460 Torr (equivalent to a simulated altitude of 14,000 ft). This was a substantially longer period of exposure to hypoxia than was employed in the present study; moreover, the exposure to hypoxia was hypocapnic as opposed to the isocapnia that was maintained in the present study.

A second point relates to the technique for determining AHVR. The study by Tatsumi et al. (23) used progressive isocapnic hypoxia to determine AHVR, whereas the present study used square-wave hypoxia under isocapnic conditions. Of perhaps more significance, however, is the fact that the measurements of AHVR by Tatsumi et al. were undertaken at different levels of PETCO2 for the different conditions of pre- and posthypoxic exposure, with and without domperidone. In particular, when studying the effect of domperidone on AHVR, Tatsumi et al. maintained PETCO2 at the level equal to the domperidone-induced hypocapnia that they observed under euoxic conditions. That is, PETCO2 was held lower for the measurements of AHVR with domperidone than without domperidone. This difference in CO2 stimulus could have masked the presence of an actual increase in AHVR with domperidone after hypoxic exposure. In the present study the same levels of PETCO2 were used for all determinations of AHVR.

A third issue relates to the dose of domperidone employed. In the study by Tatsumi et al. (23), a dose of 700 µg/kg was employed. In the present study, a single oral dose of 40 mg was given that is approximately equivalent to 570 ± 130 (SD) µg/kg. More important, however, is the fact that Tatsumi et al. gave their dose intra-arterially, whereas it the present study it was given orally. Because the bioavailabilty of domperidone when given orally is ~15% (4), this suggests that the dose employed by Tatsumi et al. would have been around a factor of 10 greater than that used in the present study.

After the experimental work for the present study had been undertaken, another study of the effects of domperidone post-hypoxic exposure became available (16). In this study, Janssen et al. also hypothesized that the increase in ventilation seen in acclimatization could result from a progressive downregulation of the inhibitory action of dopamine in the carotid bodies. They compared the effect of domperidone on AHVR in conscious goats with and without an antecedent period of 4 h of isocapnic hypoxia. Domperidone augmented AHVR not only without but also with antecedent hypoxia, failing to support the hypothesis. They concluded that the inhibitory dopaminergic mechanisms in the CB were not significantly reduced by prolonged hypoxia and that downregulation of CB dopaminergic mechanisms may not play a role in ventilatory acclimatization to hypoxia in goats. Thus their results support the results of the present study, that dopaminergic inhibitory mechanisms are functional after prolonged hypoxia.

As in the present study, the duration of exposure to hypoxia in the study of Janssen et al. (16) was on the order of hours, rather than days. Similarly, Janssen et al. employed a constant PETCO2 for the assessment of the effects of domperidone. However, the dose of domperidone employed by Janssen et al. was 1,000 µg/kg intravenously, i.e., some 10-15 times greater than in the present study once bioavailability has been taken into account.

Dopamine in the CB. The physiology of dopamine at the CB is complex and has recently been reviewed by Gonzalez et al. (12). In this review, Gonzalez et al. propose a model where, in response to hypoxia, dopamine is released locally by the type 1 cell at the site of the synapse with the carotid sinus nerve (CSN) ending. Dopamine then acts as an excitatory neurotransmitter at low-affinity receptors on the CSN ending. In addition to these dopamine receptors, there are also high-affinity dopamine autoreceptors on the type 1 cell, which are inhibitory and modulate the release of dopamine by the type 1 cell. With this model, low doses of dopamine inhibit neural activity through the high-affinity autoreceptors, whereas high doses of dopamine stimulate the CSN directly through the low-affinity receptors. Similarly, low doses of dopamine antagonists will enhance transmitter release through their effects on the high-affinity autoreceptors, whereas high doses of antagonists will inhibit the CSN discharge directly through the low-affinity receptors.

With respect to this model, the doses of dopamine and domperidone used in the present study would be expected to exert an effect at the high-affinity autoreceptors of the type 1 cell but not at the low-affinity receptors of the CSN nerve ending. Thus, in the present study, the increase in the absolute effects of the drugs on AHVR after 8 h of hypoxia is consistent with the overall increase in sensitivity of the type 1 cell of the CB to hypoxia. However, the fact that the relative effects of low-dose dopamine and domperidone have not altered provides no support for a role for the high-affinity autoreceptors in generating the increased sensitivity to hypoxia.

Overall, it remains difficult to reconcile our results and those of Janssen et al. (16) with those of Tatsumi et al. (23) in a simple manner within the framework provided by the model of Gonzalez et al. (12). Consequently, it seems more likely that the differences arise through some of the methodological considerations or other factors raised under Comparisons with other studies.

Effect of dopamine on Vc. The finding that dopamine depressed Vc, whereas domperidone did not affect Vc, is intriguing. The value for Vc is a hypothetical value for ventilation in the total absence of any hypoxic stimulation and thus needs to be treated with the caution that such hypothetical values deserve. Nevertheless, it is worth considering how this might be interpreted in terms of the model of Gonzalez et al. (12) for the actions of dopamine at the CB. The observation of a reduction in Vc with low-dose dopamine implies that there is some residual transmitter release from the CB that stimulates the CSN in the absence of hypoxia. However, the absence of any effect of domperidone on Vc suggests that, without hypoxia, the level of local release of dopamine at the synapse of the type 1 cell with the CSN is inadequate to provide any endogenous stimulation of the more remote autoreceptors on the type 1 cell.

In anesthetized cats, it is clear that there is residual activity in the CSN in hyperoxia, provided that there is no marked hypocapnia (18). In humans, less-direct studies have led to rather more equivocal results. As far as the authors are aware, there is only one study of infusion of low-dose dopamine in hyperoxia in humans, and this did not detect any effect of the dopamine on ventilation (29). In a study of rapid withdrawal of CO2 in hyperoxia, Miller et al. (19) failed to detect any rapid effect on ventilation with a latency appropriate to the peripheral chemoreceptors, although such an effect was clearly present during rapid withdrawal of CO2 under hypoxic conditions. In contrast to this result, Dahan et al. (7) were able to detect a rapid component to the ventilatory response to CO2 in hyperoxia in some, but not all, subjects. They argue that the relatively small magnitude of the fast component of the CO2 response may have caused Miller et al. to overestimate the latency of the response to CO2 withdrawal in hyperoxia.

Summary. Our results in humans do not support the idea that the increased ventilation after prolonged hypoxia is primarily related to a reduction in dopaminergic inhibition at the CB, as has been suggested by Tatsumi et al. (23) from experimental work in cats.

    ACKNOWLEDGEMENTS

We thank D. F. O'Connor for very skilled and patient technical assistance.

    FOOTNOTES

This study was supported by the Wellcome Trust. M. E. F. Pedersen holds a Medical Research Council studentship and a scholarship from the Danish Research Academy.

Address for reprint requests: P. A. Robbins, Univ. Laboratory of Physiology, Parks Road, Oxford OX1 3PT, UK (E-mail: peter.robbins{at}physiol.ox.ac.uk).

Received 19 September 1997; accepted in final form 16 September 1998.

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