Electroencephalography and Clinical Neurophysiology, 40 (1976) 169--177
169
© Elsevier Scientific Publishing Company, Amsterdam -- Printed in The Netherlands
DETECTION OF CYCLIC SLEEP PHENOMENA USING INSTANTANEOUS HEART RATE * M.J. LISENBY, P.C. RICHARDSON and A.J. WELCH
Bio-Medical Engineering Program, College of Engineering, The University of Texas, Austin, Texas (U.S.A.) (Accepted for publication: September 8, 1975)
Since the advent of the polygraph and the advancement of the digital computer, many researchers have expended efforts toward developing new automated methods for the quantitative analysis of sleep patterns (Martin et al. 1972; Smith and Karacan 1972; Gaillard and Tissot 1973; Naitoh et al. 1973). Characteristic sleep patterns have been analyzed by such techniques as spectral analysis (Johnson et al. 1969), period analysis (Welch 1971), and baseline cross analysis (Itil et al. 1969) of the electroencephalogram or EEG. Typically, these methods involve seeking out definitive measures of the EEG (usually frequency components) and then developing either an analog, digital, or hybrid algorithm capable of using these measures for classifying patterns into one of several defined categories. In recent years, several researchers in our Bio-Medical Engineering Heart Rate Laboratory have conducted a number of projects dedicated toward development of automated methods for the classification of sleep ~atterns (Aldredge and Welch 1973; Weber e~ al. 1973; Welch and Richardson 1973). However, our primary goal was to develop a sleep pattern detection process using an easily derived physiologic parameter coupled with a rapid, inexpensive algorithm for quantitative analyses. Instead of the typically used EEG, we have chosen beat-by-beat heart rate as our
* This research was sponsored by U.S. Army Medical Research and Development Command, Contract No. DAMD17-74-C-4081.
physiologic parameter. Although the validity of heart rate as a sleep detector has been disputed among researchers, it is well known that heart rate does exhibit concomitant characteristic changes with change in sleep depth (Brooks et al. 1956; Dement and Kleitman 1957; Snyder et al. 1964; Bond et al. 1973). It is also agreed that phasic change is the most pronounced heart rate variable (Brooks et al. 1956; Snyder 1967). We chose beat-by-beat heart rate as our criteria because the ECG is an easily recorded physiologic parameter which is more in keeping with our desire for low-cost and limited data bulk. Regardless of the physiologic parameter chosen, the m e t h o d of analysis must achieve a certain degree of consistency in its results which is independent of the sleep subject being analyzed. In the past, lack of consistency between nights of sleep for a given subject and between subjects has been cited as a major obstacle confronting quantitative methods of analysis (Itil et al. 1969; Lubin et al. 1969; Roessler et al. 1970). Two of our previous studies conducted by Aldredge and Welch (1973) and Welch and Richardson (1973) investigated beat-by-beat heart rate as a sleep detection parameter. The important findings of these studies were as follows: (1) beat-by-beat heart rate did contain sleep pattern information; (2) heart rate patterns were not the same toward the end of the night as they were near the onset of sleep; (3) heart rate patterns differed from sleep cycle to sleep cycle (where a cycle is defined as the approximately 90 min normal r h y t h m
170
of oscillation from light to deep sleep); and (4) that the rapid eye movement (REM) periods appeared to set the trends of the deep-sleep heart rate patterns that followed. It seemed logical that if the REM periods effected the succeeding heart rate patterns, then for heart rate analysis a sleep cycle should be defined as beginning at the onset of a REM period and ending with the onset of the next REM period. (Classically, the sleep cycle begins with a non-REM period and ends with the onset of the next non-REM period.) We also hypothesized that since heart rate patterns differed from cycle to cycle each cycle should be modeled separately. In a third study conducted by Weber et al. (1973) we found that techniques in spectral analysis of beat-by-beat heart rate could be used to detect transient oscillations which occurred concurrently with eye movements during the REM periods. Since we now feel that it is important to model sleep cycles separately, we believed that the m e t h o d devised by Weber et al. (1973) might provide us with a computer-aided process for separating cycles using only heart rate as the criterion. The purpose of this paper is to report the results of our efforts to devise a computerbased spectral analysis of beat-by-beat heart rate for separating the REM and non-REM (NREM) states. If applicable, this method would then serve as c o m p o n e n t procedure in automating the detection of individual sleep stages using only heart rate. Our efforts were directed toward modeling phenomena which were characteristic of most subjects in order to improve consistency among data.
Method Beat-by-beat heart rate was determined by measuring the time in milliseconds between successive R-waves on the electrocardiogram. The variation in these R-to-R intervals from one beat to the next was the basis for what we called the "Heart Beat Domain" (Fig. 1). The independent variable in this domain was
M.J. L I S E N B Y ET AL, HEART BEAT DOMAIN
9
R-R 7iM~_ INTERV~I (rnsec)
i
,,
~'
r
I
L
?e
79
,
o'C 4
I
60
~1
110 6 4
|20
BEATS
Fig. 1. T h e H e a r t Beat D o m a i n . T h e b e a t s or h e a r t b e a t n u m b e r s are equally spaced at integer values of 1, 2, ... 128.
heart beat number in any given minute of data. The dependent variable was the magnitude or duration of the corresponding R-to-R interval. It should be noted that the data of the independent variable were discrete and equally spaced in the Heart Beat Domain. Each 1 min epoch was zero-filled to 128 beats in order to facilitate use of our Discrete Fourier Analysis (FFT) routine (Bergland 1969). One min epochs of R-to-R interval data for a known level of sleep were converted to the Heart Beat Domain and then subjected to averaging techniques and Fourier analysis. The result was a template spectrogram in what we labeled the "Beatquency Domain". Rather than cycles/sec as in the conventional frequency domain, our Beatquency Domain was expressed in terms of normalized amplitude versus cycles/beat. "Normalized" amplitude indicated that spectrum points had been normalized such that all amplitudes lay within the range 0--1. This allowed direct comparison of spectrograms derived from different levels of sleep. In all, we performed Beatquency Domain analysis for each stage of sleep (Stages awake, 1, 2, 3, 4 and REM) on 9 normal subjects and 2 complete nights for each subject. From these analyses we concluded the following: The typical Beatquency Domain spectra for Stages awake, 1, and REM were significantly different from those of Stages 2, 3 and 4 and could be used as criteria for distinguishing between heart rate patterns of these two groups. The data base used in this research was the same as that used in our previous studies
CYCLIC S L E E P P H E N O M E N A A N D H E A R T R A T E
(Aldredge and Welch 1973; Welch and Richardson 1973). Analog recordings were made on 9 normal subjects over 2 complete nights of sleep for a total of 18 nights of recording as described elsewhere (Welch~e~ al. 1970). Each night was hand-scored on a minute-by-minute basis by three trained experts working independently and using modified Dement--Kleitman critera (Welch et al. 1970). Inter-rater agreement was always better than 90% over the 18 nights of sleep.
Results
For all subjects and for both nights the 1 min epochs of R-to-R intervals were grouped separately according to the hand-scored sleep stages: Stages 0, 1, 2, 3, 4, REM. Stages 0 indicated the awake state. These grouped epochs were converted to the Beatquency Domain to produce spectra representative of each stage of sleep. Fig. 2 illustrates the spectra obtained from one subject (subject SCH). The solid curves represent Night 1 data while the dotted curves represent Night 2 data. As can be seen from Fig. 2 the spectra of the individual stages fell into two morphologically different groups. The first group consisted of spectra of Stages 0, 1 and REM and was characterized by a maximum amplitude peak in the "low b e a t q u e n c y " range and then an exponential-like decay in amplitude with increasing beatquency. The second group was characterized by a high beatquency peak around 0.25--0.35 c/beat and was typical of Stages 2, 3 and 4 spectra. In all subjects the Stage 0 or awake spectrum closely resembled that of Stages 1 and REM. The spectra shown in Fig. 2 were typical of most subjects. It is known that Stages 1 and REM are essentially the same with regard to the EEG patterns (Dement and Kleitman 1957). REM, however, indicates the occurrence of rapid eye movements concurrent with the Stage 1 EEG. Also Stages 2, 3 and 4 are known to contain no rapid eye movement and thus are
171
considered as NREM stages of sleep. Therefore, except for Stage 0, the Beatquency Domain spectra fell into respective REM, 1 (combined REM and Stage 1) and NREM groups. Although Stage 0 (awake) is not typically considered as REM or NREM we chose to include Stage 0 in the REM, 1 group due to its similarity in the Beatquency Domain. To distinguish our definition of REM from the classical definition, we labeled combined Stages 0, 1 and REM as REM+. By pooling the heart rate data of each of the two groups, we produced REM+ and NREM spectra as shown in Fig. 3. These spectra served as templates for our classification procedure. In order to measure intra-subject and intersubject consistency of our analysis we calculated pairwise correlations between the REM+ and NREM template spectrograms. By doing this we were able to determine if the characteristic features of the templates were retained from one night to the next and from one subject to the next. We found the REM+ spectra of Nights 1 and 2 to correlate better than 98% on the average over the 9 subjects. Similarly, the intra-subject correlations of the NREM spectra averaged better than 91%. On an inter-subject basis, pairwise correlations of REM+ spectra from different subjects averaged better than 90%. However, the corresponding correlations of the NREM spectra averaged only 36%. The major discrepancies in the NREM spectra were found to lie in the varying amounts of low beatquency activity the subjects produced, while the high beatquency information tended to be quite consistent. Classification of our sleep data into their respective REM+ and NREM components involved two steps. The first step was to use the Night I data of each subject as the training set. In other words, the REM+ and NREM templates were derived from first night data. Night 2 data served as the test set. The second step was to compare a subject's templates with a beatquency spectrum representative of
172
M.J. LISENBY ET AL
SCH- STAGE 0
S C H - STAGE 2
1.00'
I'00 / bl.I 0.804 r., :3 ~- o.60J
0.80
w Q
0.60I%
..J
~ 0.40"
~E0.40
169
© Elsevier Scientific Publishing Company, Amsterdam -- Printed in The Netherlands
DETECTION OF CYCLIC SLEEP PHENOMENA USING INSTANTANEOUS HEART RATE * M.J. LISENBY, P.C. RICHARDSON and A.J. WELCH
Bio-Medical Engineering Program, College of Engineering, The University of Texas, Austin, Texas (U.S.A.) (Accepted for publication: September 8, 1975)
Since the advent of the polygraph and the advancement of the digital computer, many researchers have expended efforts toward developing new automated methods for the quantitative analysis of sleep patterns (Martin et al. 1972; Smith and Karacan 1972; Gaillard and Tissot 1973; Naitoh et al. 1973). Characteristic sleep patterns have been analyzed by such techniques as spectral analysis (Johnson et al. 1969), period analysis (Welch 1971), and baseline cross analysis (Itil et al. 1969) of the electroencephalogram or EEG. Typically, these methods involve seeking out definitive measures of the EEG (usually frequency components) and then developing either an analog, digital, or hybrid algorithm capable of using these measures for classifying patterns into one of several defined categories. In recent years, several researchers in our Bio-Medical Engineering Heart Rate Laboratory have conducted a number of projects dedicated toward development of automated methods for the classification of sleep ~atterns (Aldredge and Welch 1973; Weber e~ al. 1973; Welch and Richardson 1973). However, our primary goal was to develop a sleep pattern detection process using an easily derived physiologic parameter coupled with a rapid, inexpensive algorithm for quantitative analyses. Instead of the typically used EEG, we have chosen beat-by-beat heart rate as our
* This research was sponsored by U.S. Army Medical Research and Development Command, Contract No. DAMD17-74-C-4081.
physiologic parameter. Although the validity of heart rate as a sleep detector has been disputed among researchers, it is well known that heart rate does exhibit concomitant characteristic changes with change in sleep depth (Brooks et al. 1956; Dement and Kleitman 1957; Snyder et al. 1964; Bond et al. 1973). It is also agreed that phasic change is the most pronounced heart rate variable (Brooks et al. 1956; Snyder 1967). We chose beat-by-beat heart rate as our criteria because the ECG is an easily recorded physiologic parameter which is more in keeping with our desire for low-cost and limited data bulk. Regardless of the physiologic parameter chosen, the m e t h o d of analysis must achieve a certain degree of consistency in its results which is independent of the sleep subject being analyzed. In the past, lack of consistency between nights of sleep for a given subject and between subjects has been cited as a major obstacle confronting quantitative methods of analysis (Itil et al. 1969; Lubin et al. 1969; Roessler et al. 1970). Two of our previous studies conducted by Aldredge and Welch (1973) and Welch and Richardson (1973) investigated beat-by-beat heart rate as a sleep detection parameter. The important findings of these studies were as follows: (1) beat-by-beat heart rate did contain sleep pattern information; (2) heart rate patterns were not the same toward the end of the night as they were near the onset of sleep; (3) heart rate patterns differed from sleep cycle to sleep cycle (where a cycle is defined as the approximately 90 min normal r h y t h m
170
of oscillation from light to deep sleep); and (4) that the rapid eye movement (REM) periods appeared to set the trends of the deep-sleep heart rate patterns that followed. It seemed logical that if the REM periods effected the succeeding heart rate patterns, then for heart rate analysis a sleep cycle should be defined as beginning at the onset of a REM period and ending with the onset of the next REM period. (Classically, the sleep cycle begins with a non-REM period and ends with the onset of the next non-REM period.) We also hypothesized that since heart rate patterns differed from cycle to cycle each cycle should be modeled separately. In a third study conducted by Weber et al. (1973) we found that techniques in spectral analysis of beat-by-beat heart rate could be used to detect transient oscillations which occurred concurrently with eye movements during the REM periods. Since we now feel that it is important to model sleep cycles separately, we believed that the m e t h o d devised by Weber et al. (1973) might provide us with a computer-aided process for separating cycles using only heart rate as the criterion. The purpose of this paper is to report the results of our efforts to devise a computerbased spectral analysis of beat-by-beat heart rate for separating the REM and non-REM (NREM) states. If applicable, this method would then serve as c o m p o n e n t procedure in automating the detection of individual sleep stages using only heart rate. Our efforts were directed toward modeling phenomena which were characteristic of most subjects in order to improve consistency among data.
Method Beat-by-beat heart rate was determined by measuring the time in milliseconds between successive R-waves on the electrocardiogram. The variation in these R-to-R intervals from one beat to the next was the basis for what we called the "Heart Beat Domain" (Fig. 1). The independent variable in this domain was
M.J. L I S E N B Y ET AL, HEART BEAT DOMAIN
9
R-R 7iM~_ INTERV~I (rnsec)
i
,,
~'
r
I
L
?e
79
,
o'C 4
I
60
~1
110 6 4
|20
BEATS
Fig. 1. T h e H e a r t Beat D o m a i n . T h e b e a t s or h e a r t b e a t n u m b e r s are equally spaced at integer values of 1, 2, ... 128.
heart beat number in any given minute of data. The dependent variable was the magnitude or duration of the corresponding R-to-R interval. It should be noted that the data of the independent variable were discrete and equally spaced in the Heart Beat Domain. Each 1 min epoch was zero-filled to 128 beats in order to facilitate use of our Discrete Fourier Analysis (FFT) routine (Bergland 1969). One min epochs of R-to-R interval data for a known level of sleep were converted to the Heart Beat Domain and then subjected to averaging techniques and Fourier analysis. The result was a template spectrogram in what we labeled the "Beatquency Domain". Rather than cycles/sec as in the conventional frequency domain, our Beatquency Domain was expressed in terms of normalized amplitude versus cycles/beat. "Normalized" amplitude indicated that spectrum points had been normalized such that all amplitudes lay within the range 0--1. This allowed direct comparison of spectrograms derived from different levels of sleep. In all, we performed Beatquency Domain analysis for each stage of sleep (Stages awake, 1, 2, 3, 4 and REM) on 9 normal subjects and 2 complete nights for each subject. From these analyses we concluded the following: The typical Beatquency Domain spectra for Stages awake, 1, and REM were significantly different from those of Stages 2, 3 and 4 and could be used as criteria for distinguishing between heart rate patterns of these two groups. The data base used in this research was the same as that used in our previous studies
CYCLIC S L E E P P H E N O M E N A A N D H E A R T R A T E
(Aldredge and Welch 1973; Welch and Richardson 1973). Analog recordings were made on 9 normal subjects over 2 complete nights of sleep for a total of 18 nights of recording as described elsewhere (Welch~e~ al. 1970). Each night was hand-scored on a minute-by-minute basis by three trained experts working independently and using modified Dement--Kleitman critera (Welch et al. 1970). Inter-rater agreement was always better than 90% over the 18 nights of sleep.
Results
For all subjects and for both nights the 1 min epochs of R-to-R intervals were grouped separately according to the hand-scored sleep stages: Stages 0, 1, 2, 3, 4, REM. Stages 0 indicated the awake state. These grouped epochs were converted to the Beatquency Domain to produce spectra representative of each stage of sleep. Fig. 2 illustrates the spectra obtained from one subject (subject SCH). The solid curves represent Night 1 data while the dotted curves represent Night 2 data. As can be seen from Fig. 2 the spectra of the individual stages fell into two morphologically different groups. The first group consisted of spectra of Stages 0, 1 and REM and was characterized by a maximum amplitude peak in the "low b e a t q u e n c y " range and then an exponential-like decay in amplitude with increasing beatquency. The second group was characterized by a high beatquency peak around 0.25--0.35 c/beat and was typical of Stages 2, 3 and 4 spectra. In all subjects the Stage 0 or awake spectrum closely resembled that of Stages 1 and REM. The spectra shown in Fig. 2 were typical of most subjects. It is known that Stages 1 and REM are essentially the same with regard to the EEG patterns (Dement and Kleitman 1957). REM, however, indicates the occurrence of rapid eye movements concurrent with the Stage 1 EEG. Also Stages 2, 3 and 4 are known to contain no rapid eye movement and thus are
171
considered as NREM stages of sleep. Therefore, except for Stage 0, the Beatquency Domain spectra fell into respective REM, 1 (combined REM and Stage 1) and NREM groups. Although Stage 0 (awake) is not typically considered as REM or NREM we chose to include Stage 0 in the REM, 1 group due to its similarity in the Beatquency Domain. To distinguish our definition of REM from the classical definition, we labeled combined Stages 0, 1 and REM as REM+. By pooling the heart rate data of each of the two groups, we produced REM+ and NREM spectra as shown in Fig. 3. These spectra served as templates for our classification procedure. In order to measure intra-subject and intersubject consistency of our analysis we calculated pairwise correlations between the REM+ and NREM template spectrograms. By doing this we were able to determine if the characteristic features of the templates were retained from one night to the next and from one subject to the next. We found the REM+ spectra of Nights 1 and 2 to correlate better than 98% on the average over the 9 subjects. Similarly, the intra-subject correlations of the NREM spectra averaged better than 91%. On an inter-subject basis, pairwise correlations of REM+ spectra from different subjects averaged better than 90%. However, the corresponding correlations of the NREM spectra averaged only 36%. The major discrepancies in the NREM spectra were found to lie in the varying amounts of low beatquency activity the subjects produced, while the high beatquency information tended to be quite consistent. Classification of our sleep data into their respective REM+ and NREM components involved two steps. The first step was to use the Night I data of each subject as the training set. In other words, the REM+ and NREM templates were derived from first night data. Night 2 data served as the test set. The second step was to compare a subject's templates with a beatquency spectrum representative of
172
M.J. LISENBY ET AL
SCH- STAGE 0
S C H - STAGE 2
1.00'
I'00 / bl.I 0.804 r., :3 ~- o.60J
0.80
w Q
0.60I%
..J
~ 0.40"
~E0.40
