Introduction

The Ca2+ ion is a universal intracellular messenger that is involved in many different cellular processes (Berridge et al. 2003). In skeletal muscle cells, the Ca2+ ion links membrane depolarization with fiber contraction through a process known as excitation–contraction coupling (ECC) (Calderón et al. 2014a). For decades, ECC has served as a testing ground for experiments that assess the interaction between Ca2+ and intracellular fluorescent dyes.

Measuring intracellular Ca2+ has a long history (Jöbsis and O’Connor 1966; Ridgway and Ashley 1967). However, it was Tsien and coworkers´ work who generalized the use of intracellular dyes for determining the dynamic concentration of intracellular Ca2+, [Ca2+] (Grynkiewicz et al. 1985; Minta et al. 1989; Tsien et al. 1982). Polycarboxylate non-ratiometric Ca2+ dyes are a class of non-genetically encoded sensors extensively used nowadays in skeletal muscle (Bakker et al. 2017; Calderón et al. 2014b; Caputo et al. 1994; Cully et al. 2016; Jaque-Fernandez et al. 2020; Katerinopoulos and Foukaraki 2002; Komatsu et al. 2018; Olivera and Pizarro 2018; Sébastien et al. 2018; Wang et al. 2018). By either injecting the salt form of the dye with a micropipette or by allowing the passive diffusion of a modified molecule of the dye (Kao et al. 2010; Minta et al. 1989; Tsien 1981) it is possible to measure [Ca2+] within the cells (Calderón et al. 2014a; Grynkiewicz et al. 1985; Kao et al. 2010; Katerinopoulos and Foukaraki 2002; Tsien et al. 1982).

In order to convert the fluorescent Ca2+ signals into the ionic concentration, a calibration procedure must be undertaken (Kao et al. 2010). The classical approach (model 1) for calibrating single wavelength dyes requires the knowledge of the maximum fluorescence (Fmax), the minimum fluorescence (Fmin) and the dissociation constant (Kd) of the Ca2+—Dye reaction (Grynkiewicz et al. 1985). However, the determination of the Fmin is time-consuming and fraught with technical difficulties due to compartmentalization and leakage of the dye. Also, the use of equipment with low sensitivity and poor quality filters may produce low signal to noise ratio (parasite light), and the binding of the dye to intracellular components can modify the expected intrinsic fluorescence of the dye even in absence of Ca2+. Moreover, the presence of traces of Ca2+ in many reagents (including water) make it difficult to guarantee that a solution is devoid of Ca2+. Additionally, Kd values are highly variable, depending whether they are obtained in vitro or in situ, and are also affected by temperature, pH, ionic strength and the presence of proteins (Baylor and Hollingworth 2007; Harkins et al. 1993; Konishi et al. 1988; Thomas et al. 2000; Woodruff et al. 2002; Zhao et al. 1996). The effect of these factors on the Kd has not yet been determined for all available dyes.

An alternative equation (model 2) for calibrating single wavelength dyes that did not need the Fmin and avoided the uncertainty of the Kd was then proposed (Caputo et al. 1994). It requires, however, to know the values of kon, koff and the resting Ca2+ concentration [Ca2+]IR as well as to calculate the derivative of the experimentally obtained signal, dF/dt. Nevertheless, the experimental determination of kon and koff has only been calculated for a few dyes (Baylor and Hollingworth 2007; Berlin and Konishi 1993; Caputo et al. 1994; Lattanzio and Banschat 1991; Zhao et al. 1996), since some have kinetics faster than the mixing time required to measure them. Also, the numerical calculation of dF/dt propagates rounding and estimation errors thus adding noise to the final results (Shukla and Rusling 1985).

Consequently, both approaches for calibrating single wavelength dyes have clear limitations. This may explain why most of the papers using non-ratiometric Ca2+ measurements do not calibrate their signals. In this work we propose and experimentally validate a new equation (model 3) to calibrate Ca2+ signals without the need to know the Fmin kon, koff or dF/dt. We also present an equation to calculate the Fmin parameter needed for determining Ca2+ from fluorescence signals according to the current published models (Caputo et al. 1994; Grynkiewicz et al. 1985). The comparison of the performance of the three models on the calibration of Ca2+ fluorescence signal in skeletal muscle is also carried out.

Methods

Mathematical approach

To obtain Ca2+ calibration equations, we started with the most basic chemical reaction between two reactant agents, that is, the Ca2+ ion and the dye. The binding of these two chemical agents produces a third agent, Ca2+-D. Here, D is the Ca2+ dye, and its concentration depends on the concentrations of the reactants.

The mass action law is a phenomenological model used to describe chemical kinetics wherein the speed or reaction rate is considered to be proportional to the concentration of the reactants involved. Ordinary differential equations are well suited to model chemical reactions when the spatial distribution of the chemical species can be disregarded as is the case inside a well stirred container. Consider the 1:1 chemical reaction scheme, which applies to most reactions of Ca2+ and a dye:

$$Ca^{{2 + }} + D{}_{{\mathop \to \limits_{{~~k_{{on}} }} }}^{{\mathop \leftarrow \limits^{{k_{{off}} }} }} Ca - D$$
(1)

The values kon and koff are known as rate coefficients and express the proportionality of the reaction speeds von and voff on the concentrations of the reactants. The rate coefficient kon has units of M−1 s −1, while koff has units of s−1.

When the system reaches equilibrium, Ca2+, D, and Ca2+-D remain constant, their time derivatives are zero, and the speeds von and voff are constant and equal. We can define the equilibrium constant Kd in terms of kon and koff as,

$${K}_{d}=\frac{{k}_{off}}{{k}_{on}}$$
(2)

Starting from (1), we come to a first order reaction to measure the [Ca2+] in terms of the remaining equilibrium concentrations,

$$\left[{Ca}^{2+}\right]={K}_{d}\frac{\left[Ca-D\right]}{\left[D\right]}$$
(3)

In the framework of mass action law kinetics, we can obtain a set of three differential equations that describe the time evolution of the concentrations of each species,

$$\frac{d}{dt}\left[{Ca}^{2+}\right]=-{k}_{on}\left[{Ca}^{2+}\right]\left[D\right]+{k}_{off}\left[Ca-D\right]=\frac{d}{dt}\left[D\right]=-\frac{d}{dt}\left[Ca-D\right]$$
(4)

By continuing with this analysis, it is possible to come to a well-known calibration equation (Grynkiewicz et al. 1985; Kao et al. 2010; Minta et al. 1989) to express Ca2+ measured with a single wavelength intracellular dye:

$$\left[{Ca}^{2+}\right]={K}_{d}\left(\frac{F-{F}_{min}}{{F}_{max}-F}\right)$$
(5)

This equation is considered to be model 1. As stated (Grynkiewicz et al. 1985), it assumes that the dye: (i) behaves in the cell as it does in calibration media, (ii) forms a simple 1:1 complex with Ca2+, and (iii) is sufficiently diluted so that the intensity of the fluorescence is linearly proportional to the concentrations of the fluorescent species.

An alternative equation proposed by Caputo and colleagues (Caputo et al. 1994) exploits the reported experimental value of the [Ca2+]IR for skeletal muscle cells (70 nM in frog in the original work by Caputo et al. 1994, and 100 nM in mammals) and the time derivative of the fluorescence signal. If ∆F = F − Frest, where Frest is the resting fluorescence of the cell, the proposed equation is:

$$[{Ca}^{2+}]=\frac{{k}_{off} \Delta \mathrm{F}+ \left[{Ca}^{2+}\right]\mathrm{IR }\left({F}_{max}-{F}_{rest}\right) {k}_{on}+ \frac{dF}{dt} }{\left({F}_{max}-{F}_{rest}- \Delta \mathrm{F}\right) {k}_{on}}$$
(6)

This equation is considered to be model 2. Equations (5) and (6) were used as the starting points for developing the new equations.

Experimental approach

All manipulations and procedures carried out with mice during the development of this work were approved by the Committee for Ethics in experiments with animals of the University of Antioquia (minutes of June 2016).

Stocks of Cyclopiazonic acid (CPA, Tocris, USA), N-benzyl-p-toluene sulphonamide (BTS, Tocris, USA) and Fluo-4, AM (F14201, Thermo Fisher, USA) were prepared in Dimethyl sulfoxide (DMSO, Merck, Germany). Frozen aliquots of these reagents were thawed and dissolved in the experimental solution to achieve final working concentrations just before starting the experiments. The maximum final concentration of DMSO in the solutions was 1.3%. Saponin (Sigma-Aldrich, USA) stock was prepared in distilled water. Ethylene glycol-bis(2-aminoethylether)-N,N,N0,N0 tetraacetic acid (EGTA) and N-(2-Hydroxyethyl) piperazine-N0-2-ethanesulfonic acid (HEPES) were from Amresco (USA). Other salts and glucose were from Amresco (USA) and Merck (Germany).

The method for enzymatic dissociation of skeletal muscle is a modification of previously published ones (Calderón et al. 2014b). Briefly, 66 ± 4.8 day-old male mice (C57BL6/J), with a mean weight of 21.7 ± 0.4 g (n = 4), were euthanized by rapid cervical dislocation. Flexor digitorum brevis (FDB) muscles were dissected out and incubated in a modified Ringer solution (in mM: 2.7 KCl, 1.2 KH2PO4, 0.5 MgCl2, 138 NaCl, 0.1 Na2HPO4, 1 CaCl2, pH 7.4) containing 2.5 mg ml−1 collagenase (Worthington CLS2; 230 u/mg dw) for 82–84 min at 36.8 °C. After collagenase treatment, the muscles were washed twice with Tyrode (in mM: 5.4 KCl, 1 MgCl2, 140 NaCl, 0.33 NaH2PO4, 2 CaCl2, 10 glucose, 10 HEPES, pH 7.3) at room temperature, and gently separated from tendons and remaining tissue with a set of fire-polished Pasteur pipettes. Fibers rendered via this procedure remained excitable and contracted briskly for up to 24 h. Dissociated fibers were transferred to the experimental chamber (RC-27NE, Warner instruments, USA) and were incubated for 12 min at room temperature in Tyrode solution containing 6 µM of the Ca2+ dye Fluo-4, AM. After loaded, the cells were washed and rested during 25 min to allow for the acetoxymethyl ester form of the dye be fully de-esterified.

For Ca2+ recordings, the chamber was mounted onto the stage of an inverted Axio Observer A1 (Carl Zeiss, Germany) microscope equipped for epifluorescence and the fibers were illuminated with a LED device. The wavelengths (in nm) of the filter combination (excitation/dichroic/emission) for Ca2+ transients were 450–490/510/515. Light signals were collected with a photomultiplier (R928P tube in a D104 photometer, Horiba, Japan) connected to a 1550A Digidata (Molecular Devices, USA). Intracellular Ca2+ transients were elicited by applying suprathreshold rectangular current pulses (1–1.4 ms) through two platinum plate electrodes placed along either side of the experimental chamber. Data were acquired and analyzed using pCLAMP 10 software (Molecular Devices, USA).

In all experiments, the fiber viability was verified by eliciting a few Ca2+ transients in Tyrode solution. The Frest was considered as the mean fluorescence in a window of 5 s in a stable part of the recording, before exchanging to the Fmin and Fmax solutions. For the Fmin experiments, a modified Tyrode solution with 0.002% saponin, 15 µM CPA, 50 µM BTS, 10 mM EGTA, without Ca2+ and Mg2+, was used. The Fmin values were measured at different points of the signal, as explained in detail in the ‘Results’ section. For the Fmax assays, the above modified Tyrode solution was supplemented with 100.01 mM Ca2+. The Fmax was taken as the mean of a 500 ms segment, at the peak of a time-expanded recording. Saponin works as a rapid membrane permeabilizing agent. BTS allowed us to acquire recordings free of movement artifacts. CPA was used to inhibit the uptake of Ca2+ by the sarcoplasmic reticulum upon membrane permeabilization, in order to keep the Ca2+ in the cytosol and rapidly saturate the dye. All experiments were done at 20 °C.

For the calibration of the Ca2+ transients, the following Fluo-4 values were used: Kd in vitro: 0.345 μM; Kd in situ: 1 μM; koff: 60 s−1; kon: 60 μM−1 s−1; [Ca2+]IR: 0.1 μM (Thomas et al. 2000). The Frest, Fmin and Fmax were experimentally obtained in the present work.

Statistical analyses and graphs were performed using OriginPro 2019 software (OriginLab Corporation, USA). Results are given as mean ± standard error of the mean (SEM).

Results

A new calibration equation for non-ratiometric Ca2+ dyes

Because of the abovementioned difficulties associated with obtaining the Fmin and the koff of some dyes, we first developed a new calibration equation that was not dependent on these two parameters.

Rather, it exploits the [Ca2+]IR and the Frest since the latter already carries the information regarding the Fmin. From Eq. (5) we obtain,

$${\left[{Ca}^{2+}\right]}_{IR}={K}_{d}\left(\frac{{F}_{rest}-{F}_{min}}{{F}_{max}-{F}_{rest}}\right)$$
(7)

Rearranging,

$$\frac{1}{{K}_{d}}{\left[{Ca}^{2+}\right]}_{IR} \left({F}_{max}-{F}_{rest}\right)=({F}_{rest}-{F}_{min})$$
(8)

It is possible to rewrite as,

$$F-{F}_{min}=\left(F-{F}_{rest}\right)+\left({F}_{rest}-{F}_{min}\right)$$
(9)
$$=F-{F}_{rest}+ \frac{1}{{K}_{d}} {\left[{Ca}^{2+}\right]}_{IR} ( {F}_{max}-{F}_{rest})$$
(10)

With the result being:

$$\left[{Ca}^{2+}\right]={K}_{d}\left(\frac{F-{F}_{rest}}{{F}_{max}-F}\right)+{\left[{Ca}^{2+}\right]}_{IR} \left(\frac{{F}_{max}-{F}_{rest}}{{F}_{max}-F}\right)$$
(11)

Which is a new calibration equation for non-ratiometric Ca2+ dyes and is herein referred to as model 3. It is clear that when F = Frest the equation produces the result [Ca2+] = [Ca2+]IR, returning the expected value for [Ca2+]IR.

Validation of the model in skeletal muscle fibers

We tested the performance of the Eqs. (5), (6) and (11), by calibrating Ca2+ transients obtained with Fluo-4 in skeletal muscle fibers. For that, we experimentally determined the Fmin and the Fmax in mouse FDB fibers loaded with the same dye. The results are shown in Fig. 1. Panels a and b illustrate typical Fmax and Fmin recordings, respectively. The Fmax value was 41.728 ± 3.170 A.U. (n = 5). Since no clear guidelines for measuring the real Fmin are described, four points were considered when estimating four potential Fmin, as shown in the panel c. Point one assumes the lowest, stable value as the Fmin. Points two and three assume a change in slope as the true Fmin, since the first point may be highly affected by dye leakage. Point four explores the possibility that the very first change in slope is the actual Fmin. The values obtained were 0.267 ± 0.03, 0.629 ± 0.059, 1.240 ± 0.11, and 7.648 ± 0.59 A.U. for points 1 to 4, respectively (n = 4 in all cases).

Fig. 1
figure 1

Calibration of Ca2+ transients obtained in skeletal muscle fibers loaded with Fluo-4 and using the Eq. (5). Representative Fmax and Fmin recordings are shown in a and b, respectively. The arrows indicate the start of the solution exchange. Two approaches to estimate the Fmin value were followed (c): identifying a stable part at the end of the signal (1st point), or identifying clear changes in the slope, as labelled by the red lines (2nd to 4th points). If the classical calibration is performed using the Fmin values obtained in points 1 to 4, the peak [Ca2+] pointed out by the vertical arrows are obtained (d). Points without arrows indicate peak [Ca2+] calculated when other Fmin points were arbitrarily selected and not indicated in the panel c. The [Ca2+] pointed out by the horizontal arrow was obtained by using the Fmin estimated with the Eq. (12). (Color figure online)

The effect of the uncertainties in the determination of the Fmin on the calibration results, using Eq. (5), is shown in panel d (vertical arrows). A change of up to 17.8% in the peak [Ca2+] was estimated from points 1 to 4.

The comparison of the performance of the three calibration models is shown in Fig. 2. When the experimental Fmin value of the point 1 is used for the model 1, the peak [Ca2+] was overestimated by 17% (Model 1e, black trace), compared to models 2 and 3, which are independent of the Fmin and performed the same (red and blue traces). Since the difference between model 1 versus models 2 and 3 can be mostly explained by the effect of the Fmin on the peak [Ca2+], as previously shown in the Fig. 1d, we devised an approach to mathematically estimate the Fmin without these experimental uncertainties.

Fig. 2
figure 2

Comparison of the performance of the models 1 to 3 on the calibration of a Ca2+ transient of a muscle fiber obtained with Fluo-4. The black trace is a Ca2+ transient calibrated with the Eq. (5) and the Fmin of the 1st point, which was experimentally (e) measured. The red and blue traces are the same Ca2+ transient calibrated with the Eqs. (6) and (11), respectively. The green signal is the same record, calibrated with the Eqs. (5) and (12); its peak corresponds to the value pointed out by the horizontal arrow in the Fig. 1d. In this case, m stands for mathematically estimated. Note that red, blue and green are kinetically identical. (Color figure online)

Estimating F min from F rest

The Fmin value can be estimated by rearranging Eq. (8):

$${F}_{min}={F}_{rest}-\frac{1}{{K}_{d}}{\left[{Ca}^{2+}\right]}_{IR} ({F}_{max}-{F}_{rest})$$
(12)

This means that the Fmin could be regarded as a correction to the Frest.

The Fmin predicted by Eq. (12), when using the Kd in situ for Fluo-4 and the Frest of our experiments, was 6.78 ± 0.13 A.U. (n = 4). It calls our attention the fact that the predicted value did not coincide with any of the previously identified 4 points (Fig. 1c) and was therefore designated as the 5th point. The peak [Ca2+] obtained with this Fmin is pointed out by the horizontal arrow in Fig. 1d, and the calibrated Ca2+ transient is graphed in Fig. 2. This figure demonstrates that if the calibration of model 1 is performed with the mathematically estimated Fmin (Model 1 m, green trace), the peak [Ca2+] compares very well to that obtained with models 2 and 3 (in red and blue, respectively).

These results demonstrate that there is a high degree of uncertainty about how to reliably identify the best point to measure the Fmin. This further suggests that the typical recordings obtained with Fmin experiments are strongly affected by leakage of the dye.

Finally, we tested if the assumptions for the Kd and [Ca2+]IR values (1 µM/0.1 µM = 10) were correct, by using a set of fibers in which we determined the Fmax and the Frest, but from which the Fmin was not measured. In this case, with a mean Frest/Fmax of 0.235 ± 0.007 (n = 5), we came to a Kd/[Ca2+]IR value of 10.78 ± 0.39, confirming the validity of the Eq. (12).

Discussion

We addressed the issue of the calibration equations for non-ratiometric Ca2+ dyes. The main results of our work are the following: (i) we validated a new, simpler equation for the calibration of signals obtained with non-ratiometric Ca2+ dyes, (ii) we devised a new equation that corrects for the expected dye leakage when estimating the Fmin, (iii) under some conditions, the three calibration models perform similarly in mammalian skeletal muscle fibers.

The importance of a reliable Ca2+ calibration

Knowledge of precise cytoplasmic [Ca2+] have implications for our understanding of physiological and pathophysiological phenomena, as well as in the development and evaluation of new drugs, for conditions that involve alterations in, for instance, cardiac, skeletal muscle, neuronal or endocrine intracellular Ca2+ kinetics. Given that mathematical models of the ECC allow for the prediction of Ca2+ dynamics and the role of the binding sites involved (Bakker et al. 2017; Baylor and Hollingworth 2007), a complete and proficient understanding of the shape, duration and amplitude of the Ca2+ transient is crucial.

The present work tackles several difficulties inherent to current non-ratiometric Ca2+ dye calibration procedures. Our new calibration model presents advantages over those discussed in previous sections since it avoids the measurement of the Fmin, sparing time, and the numerical differentiation of the fluorescence recordings, avoiding the addition of noise to the final reported [Ca2+]. The new equation requires the researcher to only know the Kd, [Ca2+]IR, Fmax, Frest and F. The values of these parameters obtained either experimentally, or sourced from the literature are, in general, reliable. In this regard, the Kd of most of Ca2+ dyes (Paredes et al. 2008; Takahashi et al. 1999), and the [Ca2+]IR are readily available across the literature (Konishi 2005; Williams et al. 1990). Both the Frest and F come from the experimental signal to be calibrated and the Fmax can be determined for each cellular model and experimental set up at the end of each experiment.

The performance of different Ca2+ calibration models

Equations (6) and (11) performed equally because they do not depend on the Fmin, and the differences between them and the classical Eq. (5) can be explained by the Fmin values used. The fact that the two calibration models that do not use the Fmin yield similar results that are lower than the classical model, suggest that the Fmin is usually underestimated, which in turn overestimates the peak [Ca2+]. Our results show that model 3 performs the same as models 1 m and 2, making it reliable and ready for use in routine calibration procedures in skeletal muscle fibers.

Although we did not present any results to prove this, the fact that the parameters in the equations have been calculated for many cell types (Thomas et al. 2000; Woodruff et al. 2002) suggests that besides skeletal muscle fibers, it is plausible that Eqs. (6) and (11) will perform well across a range of cells. Moreover, we expect both equations to work well for the calibration of genetically-encoded Ca2+ dyes (Tang et al. 2011) that, based on their kinetic characteristics, were originally calibrated with the classical model 1.

The uncertainties of the experimental measurement of the F min

A useful relationship was derived to estimate the Fmin in terms of Kd, [Ca2+]IR, Fmax and Frest values. The discrepancy observed between the estimated and the measured Fmin rises concerns around the lack of a standardized approach to determine the Fmin in experimental recordings. A typical Fmin recording shows several slopes which are difficult to interpret. Thus, we assessed the most common and intuitive approaches to measure the Fmin, either at a clear change in the slope, or after a clear stabilization of the signal. We then mathematically predicted the Fmin using the in situ Kd, in order to take into account the importance of the intracellular components on the function of the Ca2+ dyes. Using this approach, we uncovered a large difference between the experimentally measured Fmin and the mathematically estimated Fmin. This difference likely arises from leakage of the dye upon permeabilization in the Fmin experiments and it could be quantified as the difference in the Fmin experimentally measured in the point 1, and the Fmin estimated with the Eq. (12). This means that the last two thirds of the decay of the signal in our Fmin recordings may be related to leakage of the dye.

Although some groups have shown their elegant calibration procedures (Caputo et al. 1994; Cully et al. 2016; Olivera and Pizarro 2018), the majority of papers using non-ratiometric dyes to measure Ca2+ in skeletal muscle do not calibrate their signals, nor do they show their Fmin traces or identify where the Fmin values were measured. It is possible that several of those calibrations have overestimated up to 17% the peak [Ca2+], particularly if the values of the Fmin had been obtained with approaches that only consider points 1 and 2. Then, using the estimated Fmin corrects for the uncertainties in the measurement of the Fmin and their effects on the peak Ca2+ concentration, further making the results obtained with the three calibration models (Eqs. 5, 6 and 11) comparable.

Conclusion

We presented new equations to calibrate fluorescent Ca2+ signals obtained in skeletal muscle fibers with non-ratiometric dyes in a precise, time-saving, reliable way. Provided that the effect of dye leakage on the Fmin can be corrected, all three models evaluated perform similarly and may be considered interchangeable. Moving forward, our new model may help and encourage researchers to present their Ca2+ results calibrated.