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1 Department of Medicine, University of California, San Diego, and 3 San Diego Veterans Administration Health Care System and Department of Radiology, University of California, San Diego, La Jolla 92093-0623; and 2 Huntington Medical Research Institute, Pasadena, California 91105
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ABSTRACT |
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A noninvasive magnetic
resonance imaging (MRI) method to assess the distribution of perfusion
and metabolic demand (
/
O2) in
exercising human skeletal muscle is described. This method combines two
MRI techniques that can provide accurate multiple localized
measurements of
/
O2 during
steady-state plantar flexion exercise. The first technique,
31P chemical shift imaging, permits the acquisition of
comparable phosphorus spectra from multiple voxels simultaneously.
Because phosphocreatine (PCr) depletion is directly proportional to ATP hydrolysis, its relative depletion can be used as an index of muscle
O2 uptake (
O2). The second
MRI technique allows the measurement of both spatially and temporally
resolved muscle perfusion in vivo by using arterial spin labeling.
Promising validity and reliability data are presented for both MRI
techniques. Initial results from the combined method provide evidence
of a large variation in
/
O2, revealing areas of apparent under- and overperfusion for a given metabolic turnover. Analysis of these data in a similar fashion to that
employed in the assessment of ventilation-to-perfusion matching in the
lungs revealed a similar second moment of the perfusion distribution
and PCr distribution on a log scale (log SD
and log
SDPCr) (0.47). Modeling the effect of variations in
log SD
and log SDPCr in terms of
attainable
O2, assuming no diffusion limits, indicates that the log SD
and log
SDPCr would allow only 92% of the target
O2 to be achieved. This communication
documents this novel, noninvasive method for assessing
/
O2, and initial data suggest
that the mismatch in
/
O2 may play
a significant role in determining O2 transport and
utilization during exercise.
arterial spin labeling; chemical shift imaging; blood flow; metabolism; magnetic resonance imaging
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INTRODUCTION |
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THE IMPORTANCE OF THE SPATIAL
MATCHING of skeletal muscle perfusion (
) and metabolic
demand (
O2;
/
O2) is often cited but has been
an elusive measurement to attain. The ability to measure
/
O2 is essential to examine and
truly understand skeletal muscle function and dysfunction during the
challenge of muscular work. For example, taken from one of our
laboratory's specific areas of interest (exercise O2
delivery and utilization during exercise), the finding that maximal
O2 extraction in exercising muscle is limited such that
effluent venous O2 content never falls to zero has been
interpreted as evidence of diffusion-limited O2 supply
(15, 26, 32, 34). However, this finding can equally well
be explained by the existence of
/
O2 inhomogeneity within an
exercising muscle (21, 23). Indeed, there is considerable experimental evidence that
heterogeneity in this scenario does exist (6, 20), but each of these studies documents blood flow heterogeneity with respect to tissue volume, not
O2. Consequently, the diffusion-limited
component of O2 transport has continued to be accepted on
the basis of the assumption that the heterogeneity of
/volume is
equally matched by nonhomogeneous metabolic
O2/volume. Thus in areas where there is
low
there may be low
O2 and vice versa.
It is clear that there is a need for a technique that can accurately
assess
and metabolic activity in the same volume of exercising
muscle, and several methodological combinations have previously been
suggested. For example, the use of local PO2
potentially may reflect
O2, measured by
either PO2 electrodes (13) or O2 phosphorescence quenching (29) in
combination with colored or fluorescent microspheres to determine local
blood flow (11). However, recent observations of
small to no change in calculated mean capillary
PO2 and intracellular
PO2 with progressively intense exercise to
maximum cast doubt on the validity of PO2 as an
indicator of
O2 (27). These
findings, in addition to concerns about spatial resolution and tissue
damage from electrodes, do not promote the validity of these
methods. Glucose uptake, on the other hand, offers an
indication of local
O2 and has
previously been coupled with microspheres (a powerful tool with very
good spatial resolution of muscle blood flow) (16), but
this latter technique has the fundamental problem that such studies
are, by necessity, terminal in nature, thus limiting its use to
research animals.
Two magnetic resonance imaging (MRI) techniques can provide noninvasive
in vivo multiple localized measurements of both
and
O2. In combination, they can provide
accurate measurements of
/
O2 in
adjustable localized volumes of exercising muscle. The first of these
two techniques, 31P chemical shift imaging (CSI)
(2), allows the acquisition of comparable phosphorus
spectra from multiple voxels simultaneously. Because phosphocreatine
(PCr) depletion is directly proportional to ATP hydrolysis
(18), its relative depletion can be used as an index of
muscle
O2 (4, 12, 17). Thus
CSI allows the measurement of
O2 for a
given volume of muscle. The second MRI technique allows the measurement
of both spatially and temporally resolved
in vivo by using
arterial spin labeling (ASL) (3). This technique developed
in the brain (36), but now, adapted for use in muscle
(10), involves magnetically tagging arterial blood
proximal to an imaging slice, then observing the changes that occur as
blood flows into that volume (3). With this technique, the
local magnetic resonance (MR)
signal is proportional to the
amount of arterial blood delivered to the voxel in a short time
interval, and absolute
units can be calculated. Combining the
results of these two MR techniques provides measurements of
/
O2 in a given volume of muscle
and the distribution of this ratio across and within exercising muscles.
Thus the purpose of this manuscript is to report for the first time the
combination of ASL for
and 31P CSI for
O2 to assess
/
O2 in multiple voxels of human
skeletal muscle during steady-state exercise.
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METHODS |
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These studies were approved by the Human Subjects Committee of the University of California, San Diego. Representative data are presented from a single healthy physically active male volunteer aged 28 yr who gave his written, informed consent.
Exercise protocol.
A plantar flexion exercise paradigm was utilized to facilitate dynamic
exercise within the confines of a clinical MR scanner (14). After a 5-min warm-up period, exercise was performed
at a rate of 0.5 Hz at a constant work rate (~6 W) for 10 min. The rate of muscle contraction was determined by the pulse sequence timing
of the ASL data collection; however, the subject timed the contractions
with a metronome (set at the same rate) during the CSI data collection
because the sound of the pulse sequence was different. For the CSI
studies, exercise was commenced 2.5 min before the signal acquisition
to ensure that PCr levels had reached a steady state of depletion.
Because CSI offers no temporal resolution, the achievement of a steady
state is essential. The 10 min of steady-state exercise were performed
twice to facilitate the collection of both CSI and ASL data. An
additional 10 min of scanning at rest in the plantar flexion ergometer
were performed to collect resting CSI data. There were at least 20 min
of rest between the repeated scans. The lower leg orientation was
maintained as for the
imaging, with the CSI data being
collected from the same axial anatomic slice location as the
images.
31P CSI.
Two series of 31P CSI studies were performed on a 1.5-T MRI
scanner (GE Medical Systems, Milwaukee, WI), one at rest and one during
10 min of steady-state plantar flexion exercise. A dual-tuned 31P/1H flexible coil (Medical Advances,
Milwaukee) was used to obtain 1H axial images to confirm
anatomic localization and 31P CSI data. 31P CSI
data were acquired by using the commercially available pulse sequence
provided by GE Spectroscopy Research Accessory, in a similar
fashion to previous studies (2). Specifically, a radio frequency (RF) pulse to excite magnetization within a slice was applied in the presence of a gradient. To obtain both spectral and
spatial information, phase-encoding gradients were applied before the
data readout. The spatial resolution is determined by the number of
phase-encoding steps and by the field of view (FOV). A 14-cm FOV was
used with an acquisition matrix size of 14 × 14 phase-encoding
steps and a slice thickness of 1 cm. This resulted in an in-plane
resolution of 1 cm2 and 1 ml volume of tissue in each
voxel. Magnetic field (Bo) homogeneity was adjusted for each
subject by using the autoshim capabilities of the scanner with the
transmitter frequency on resonance for the water signal. The
transmitter frequency was switched to phosphorus and adjusted to be on
resonance for PCr to ensure that there was no misregistration between
the anatomic images and the CSI data set due to chemical shift errors
(these anatomic images, using pixel registration, ensure an accurate combination of the CSI and
data sets). The difference spectra (rest and exercise) for each voxel were determined off-line by use of a
Silicon Graphics INDIGO equipped with SAGE (GE Medical Systems).
imaging using arterial spin labeling.
All images were acquired on a standard 1.5-T clinical imaging system
(GE Medical Systems) fitted with a local gradient knee coil of our own
design (37) and built in our laboratory (9). This coil produces 6 G/cm at 100 A on all three axes with gradient rise
times of 100 µs from zero to full scale and so provides resolution and signal-to-noise ratio superior to that achievable with a
standard extremity coil, allowing the acquisition of images with
spatial resolution high enough to easily identify the different muscle groups in the lower leg even with an echo-planar imaging sequence.
has been recently published (8). Briefly, imaging was performed using a modified version of continuous ASL (5, 35) in which a short delay between inversion and image
acquisition is inserted to reduce errors due to the spatial variations
in the transit delay (1). Alternating tag and control
images were acquired every 5 s at a single location (repetition
time = 5 s) in the axial plane (anatomic image, see Fig. 2)
with a 32-cm FOV, a matrix size of 64 × 64, and a slice thickness
of 1 cm. The bandwidth was 125 kHz, and the echo spacing was 624 µs.
Sampling was not performed on the gradient ramps. The gap between the
inversion region and the imaging slice was 3 cm. The delay between the
end of the tag and image acquisition was 800 ms, the echo time was 20 ms, and the duration of the tag was 1.3 s. A repetition time of
5,000 ms was used to allow a time of 2.8 s between image
acquisition and the subsequent inversion pulse for the subject to
exercise. A total of 86 images was acquired in each experiment, with
the exercise protocol (starting with the rest condition) beginning after the third image. The first two images were collected to equilibrate the magnetization and were discarded in the analysis. The
control image was acquired by applying an off resonance RF excitation
pulse, in the presence of a gradient, on the opposite side of the
imaging slice from the inversion slice. This design was similar to that
used in the original implementation of continuous ASL to control for
magnetization transfer effects (5).
As described above, the exercise protocol consisted of successive
submaximal plantar flexions performed in the interval after image
acquisition and before the inversion tag. The subject was thus
motionless during both image acquisition and the tagging period.
Calculation of the variance in
and metabolism.
In an attempt to better describe the matching of
with
metabolism, we examined the variance in both ASL-measured
and 31P-measured metabolism. This analysis, similar to that
employed in the assessment of ventilation-to-
matching in the
lungs (31), necessitates the calculation of the second
moment of the
distribution and PCr distribution on a log scale
(log SD
and log SDPCr, respectively).
The mathematical basis of this calculation is illustrated in Eq.
1
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and V are
and
O2, respectively, to piece i
of n pieces, and ln is the natural logarithm of the
O2-to-
ratio. The calculation of
the second moment of the metabolism-weighted PCr-
distribution
was calculated in the same manner.
Studies of validity and reliability of ASL and 31P
CSI.
A series of additional studies examining the validity and reliability
of both techniques were also performed. Specifically, to test the
reliability of the ASL technique, a subject performed two identical
plantar flexion exercise bouts of 6 min at 5 W (gated to the ASL data
collection) punctuated by a period of 6 min of rest before and after
each exercise bout. The coefficient of variation for these repeated
measurements was then calculated. To demonstrate both the validity and
reliability of the ASL technique, a subject performed plantar flexion,
again gated to the ASL data collection, at 6 W for an 8-min period. For
the first half of these 8 min we allowed normal
, whereas the
second half was completed under partial ischemia by inflating a
blood pressure cuff around the thigh at 100 mmHg. Additionally, the
effect of this protocol on blood velocities in the popliteal artery,
supplying the gastrocnemius, was assessed with ultrasound flowmetry
(Cerebrovascular Diagnostics System, Medasonics, Freemont, CA).
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RESULTS |
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Figure 1 was collected from the
single representative subject reported here and is typical of a
image attained by the ASL technique. The color scale from dark blue to
bright red represents areas of low to high
, respectively. The
localized recruitment, related to
, during plantar flexion
exercise is apparent in the medial head (left side of
figure) and the lateral head of the gastrocnemius (lower
right of figure). These data clearly illustrate the heterogeneity
that exists within a single muscle. Interestingly, in this subject,
also increased quite significantly in the extensor digitorum
longus muscle (right side of figure). This is indicative
either of muscle recruitment in this area or of
to an inactive
area, with the former possibility being most likely. The three
centrally located bright red regions are artifacts due to large conduit
vessels (center of figure).
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Figure 2 illustrates the local origin of
the CSI data on an axial gradient echo MR image of the lower leg. These
data were acquired simultaneously and provided comparable phosphorus
spectra from multiple voxels (1 cm3, voxels
A-M) in the same slice location shown in Fig. 1. The gray PCr
spectra were collected in resting conditions whereas the black spectra
were attained during steady-state exercise. Only the PCr peak is
visible because the transmitter frequency was switched to phosphorus
and adjusted to be on resonance for PCr. These data clearly document
the heterogeneity of
O2 within an
exercising muscle even between two adjacent voxels; for example, in
voxel N there was an 80% reduction in PCr concentration,
whereas voxel M exhibited zero depletion. Thus a wide range
of PCr depletions was recorded (0-92%). The mean value for all
voxels was 60% PCr depletion. This is in agreement with our previous
global assessment of muscle PCr changes using magnetic resonance
spectroscopy and the same work rate. Hence, if this 15 ml of
muscle had all been under a surface coil, the mean would be have been
60%, which at 6 W is consistent with our previous observations
(14).
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Figure 3 illustrates the local
measurements of
and
O2 plotted
against the ratio of these variables on a log scale. This analysis,
similar to that employed in the assessment of ventilation-to-
matching in the lungs (31), revealed a similar log
SD
and log SDPCr (Eq. 1).
Unlike measurements of ventilation-to-
matching in the lungs,
for which reference data are available, the practical implications of
these values in muscle are not readily apparent because of the novelty
of these data. In an attempt to provide greater insight into this
matter, we modeled the effect of variations in log
SD
and log SDPCr in terms of attainable
O2, assuming no diffusion limits. The
results of this analysis are presented in Table
1 and indicate that the log
SD
and log SDPCr of 0.47 would allow
only 92% of the target
O2 to be
achieved. This suggests that the mismatch of
/
O2 does play a role in
determining O2 transport and utilization during exercise,
even in young, healthy muscle.
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Figure 4 illustrates the frequency
distribution for both
and PCr depletion within the 15 voxels
measured. From this analysis, it appears that
is evenly
distributed across a wide range whereas
O2, as measured by PCr depletion, was
more unimodal with over 50% of the voxels falling to a similar extent.
This analysis indicates that there are voxels that are either vastly
over- or underperfused for their
O2.
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Figure 5 illustrates that there is no
relationship between PCr depletion and blood flow increase from rest to
exercise. It is apparent that there is a large variation in ratio of
PCr depletion to blood flow across the 15 voxels. These data and this
analysis provide evidence of large variation in matching of
/
O2 and again suggest areas of
both under- and overperfusion for a given metabolic turnover. That is,
in the same voxels
varied to a great extent (from <40 to >140
arbitrary units, 350% range) and the majority of voxels depleted PCr
to a similar extent (20-25 mM, 25% range).
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Studies of validity and reliability of ASL and 31P CSI.
Figure 6A illustrates the
reproducibility of repeated measurements during repeated exercise bouts
at the same level of exercise. The coefficient of variation for these
measurements was 9%. Figure 6B illustrates that the local
ASL measurements tend to reflect both the Doppler assessment of
velocities and the expected bulk flow changes in muscle blood flow
indicative of the validity of this technique, and the similar response
in the repeated protocol demonstrates the reproducibility of the ASL
technique. Specifically, the ultrasound flowmetry assessment revealed
blood velocities of ~2 cm/s at rest, ~20 cm/s during exercise, ~5
cm/s during exercise with the cuff inflated, and a substantial
hyperemia of ~30 cm/s for 20 s at the end of exercise when the
cuff was released.
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DISCUSSION |
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The results of the present study demonstrate a novel method for
assessing the matching of
/
O2 in
human skeletal muscle in vivo. The need for such an assessment has been
recognized for a significant period of time, but advancements have been
hampered by the methodological complexities of such data collection.
Utilizing this method, we have recorded considerable heterogeneity in
both muscle
and muscle
O2 during
steady-state exercise and no correlation between these two variables.
However, it is important to recognize that the intention of this
manuscript is to document a methodological advance and not to
definitively characterize the relationship between
and
O2 in exercising human skeletal muscle.
This novel, noninvasive MRI method may ultimately provide this
assessment in both health and disease. We provide a limited discussion
of our preliminary results to place this method in the context of the
current literature.
Heterogeneity of
and metabolism.
Although there have been many studies that have reported heterogeneous
muscle blood flow (6, 20, 24), to our knowledge there is
only one other documented attempt to measure local blood flow and
metabolism within the same skeletal muscle. This work by Iversen and
Nicolaysen (16) studied rabbit muscle at rest and during
electrical stimulation by using microspheres to assess
and
glucose uptake as a marker of metabolic activity. Their conclusion that regional blood flow within single skeletal
muscles was not strongly linked to regional metabolic activity is in
line with our initial data collection using this new noninvasive MRI method (Figs. 4 and 5).
/
O2 and as a result has been
performed with this assumption on numerous occasions (26, 28,
33). Previous modeling work has offered cautionary notes to the
simplification of a complex process (21) and most recently
documented that the heterogeneities in
and metabolism result in
a decrease in the efficiency of O2 transport and, if not
taken into account, lead to an overestimation of the role of diffusion
limitation (22). Although too preliminary to allow
definitive statements, the initial findings using our MRI methodology
indicate that there may be considerable heterogeneity in local muscle
, local
O2, and the matching of
these two variables (Figs. 3-5). These relationships must be
characterized and ultimately incorporated into investigations of
O2 transport and utilization in exercising skeletal muscle.
Log SD
and Log SDPCr in skeletal
muscle.
Unlike for the lungs, where the characterization of
ventilation-to-
matching is routinely measured and the
functional implications are known (31), the determination
of skeletal muscle log SD
and SDPCr is
at present somewhat abstract. What is normal, and when does this match
become abnormal? To objectively offer initial insight into the
functional consequence of a log SD
and log
SDPCr of 0.47, we have considered the possible scenario in
which all venous PO2 was the result of
heterogeneity, with no diffusion limitation. In this scenario, if there
is zero heterogeneity,
O2 is equal to
the product of blood flow and arterial O2 content, and venous PO2 must be zero. Thus, with this
conceptual starting point and data drawn from our previous assessment
of plantar flexion
O2 (12),
numerous mass-specific flow measurements (25), and others
muscle volume data for the gastrocnemius (7), we calculated the theoretical
O2 (138 ml
O2/min) that could be achieved with the measured log
SD
and log SDPCr (0.47) and the venous
PO2 that would result (27.1 mmHg). In this
model, we assumed blood flow to be 1.00 l/min and target
O2 to be 150 ml/min with the measured
value of 6% shunt. Hence, this level of log SD
and log SDPCr in the model permitted only 92% of the
anticipated
O2 (Table 1). Although
preliminary in nature, this model suggests that the measured level of
/
O2 matching and relatively small shunt do play a role in attenuating metabolic capacity and elevating venous PO2, even in young, healthy active
muscle working at a submaximal work rate. To better put these data in
perspective, we have tabulated the calculated effect of altered log
SD
and log SDPCr through the spectrum of
0.1 to 1.2, including the measured value of 0.47, on both the
achievable muscle
O2 and venous
PO2 (Table 1). To provide an additional
comparison with our measurements, we used the same
SD
calculations to produce an estimate of muscle
mass-
distribution in an exercising in situ canine gastrocnemius
preparation (34) [modified to reduce surgical procedures
and tissue traumatization (35)], injected with colored
microspheres and sectioned into 12 pieces after exercise. The log
SD
for this preparation was only 0.13. Unfortunately, here we had no measure of local
O2 in these tissue volumes. Again,
although preliminary in nature, this significantly greater log
SD
in human skeletal muscle compared with the canine
is certainly intriguing and may be related to the obvious species
differences in terms of aerobic capacity exhibited between human and dog.
Validity and reliability of ASL and 31P CSI. As with any new method, it is important to demonstrate a certain degree of both validity and reliability. Consequently, during the development of this method we performed several series of studies to determine the validity and reliability of the two techniques. Typical data sets are presented here in Figs. 6 and 7. From Fig. 6A, the reproducibility of this technique is clearly demonstrated. Figure 6B illustrates that that the local ASL measurements tend to reflect the measured (Doppler) and expected bulk flow changes in muscle blood flow indicative of the validity of this technique, whereas the similar response in the repeated protocol again demonstrates the reproducibility of the ASL technique. Additionally, Fig. 6B represents nonaveraged raw data from a voxel sized 0.35 cm3, which is substantially smaller than the presently utilized 1-cm3 voxel necessitated for matching with CSI data.
Figure 7 illustrates the validity of the 31P CSI measurements of local metabolism by presenting the PCr spectra for both rest and exercise at 5 and at 9 W. Here the validity of the technique is supported by the sequential fall in PCr with increasing work rate, whereas the reliability of the CSI technique was documented by measurements during repeated work bouts at 5 and 9 W that revealed a 10% coefficient of variation. It is interesting to note that PCr depletion increases with increasing exercise intensity, as expected, but there are clear exceptions. It should be recognized that here, as with other data presented here (e.g., the coefficients of variation reported for ASL and CSI), we cannot determine whether these are physiological or methodological variations. However, in this case, the former appears to be supported by the observation that the mean values of 44 ± 7% PCr depletion at 5 W and 63 ± 6% PCr depletion at 9 W are in excellent agreement with previous global assessments of PCr depletion using traditional spectroscopy (14).Present limitations to this methodology.
As with any new method, there are presently several limitations to this
noninvasive assessment of local
and metabolism. First, these
two measurements are not simultaneous. As described, the determination
of local
and local metabolism can be assessed on the same
subject in the same magnet with the same position (both acquisition
setups can be prepared at once); however, both assessments cannot, at
present, be measured simultaneously. This necessitates two exercise
periods and the superimposing of the data from each bout in a single
interpretation. Thus differences in either response may occur between
the two exercise bouts. This potential effect should be minimized by
adequate warm-up before each exercise bout. Second, because of the need
to average several minutes of CSI data to attain an average metabolic
cost in each voxel examined, this method is limited to spatial
measurements and cannot detect, although it may be influenced by,
temporal heterogeneity. With the present approach this limitation
cannot be removed, but with continued optimization of the CSI methods (or an increase in voxel size), the time resolution can be improved. Third, again related to resolution, this method (in its present form
and with a reasonable exercise period of 10 min) is limited to a voxel
size of 1 cm3. Although this tissue volume is relatively
small compared with several previous studies of muscle and
heterogeneity, this is still a substantial voxel compared with muscle
fiber size. It is at present unclear as to the optimum voxel size for
this type of investigation. Suffice to say, the smaller the possible
tissue volume the better as this can easily be increased, if necessary. As noted, the present method is limited to 1-cm3 volumes
only by the CSI technique, which requires a significant increase in
data collection time during steady-state exercise to reduce each
discrete sample volume (see Fig. 6B for ASL data collected
in a 0.35-cm3 voxel). Unfortunately, a 50% reduction of
the voxel size assessed by CSI requires a 400% increase in length of
data collection necessary to achieve the same signal-to-noise ratio.
With the ultimate goal of creating a clinically useful tool and
temporal concerns about long duration exercise, this is not a practical
approach. Consequently, efforts are being focused on optimizing the CSI
signal collection. Despite these limitations, the present manuscript
clearly documents the feasibility of a method that holds significant
promise to address the age-old question of homogeneity of
and
metabolism and to address this issue noninvasively in vivo in humans.
and
O2 can be measured in discrete
subunits of tissue within and across muscles by using a method that
combines two MRI techniques. This novel methodology can be used to
evaluate the contribution of
to metabolic matching in
O2 transport and utilization. Ultimately, this method may
offer insight into the muscle dysfunction associated with numerous pathologies.
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ACKNOWLEDGEMENTS |
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We thank the subjects who partook in the development of this methodology, Dr. Peter Wagner for help with the log linear analyses and modeling of the data, and Dr. Brian Ross for invaluable support.
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FOOTNOTES |
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This research was made possible by the support of the National Heart, Lung, and Blood Institute Grant HL-17731, a Grant-In-Aid from the American Heart Association, and National Center for Regional Resources Grant RR-14785. L. R. Frank was supported by Veterans Administration Merit Review 321. S. Bluml is grateful to the Rudi Schulte Research Institute for financial support.
Address for reprint requests and other correspondence: R. S. Richardson, Dept. of Medicine, 0623A, Univ. of California, San Diego, 9500 Gilman Dr., La Jolla, CA 92093-0623 (E-mail: rrichardson{at}ucsd.edu).
The costs of publication of this article were defrayed in part by the payment of page charges. The article must therefore be hereby marked "advertisement" in accordance with 18 U.S.C. Section 1734 solely to indicate this fact.
Received 5 October 2000; accepted in final form 16 April 2001.
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