The heterogeneity of the morphologies and the activation sequences of the action potentials (AP) generated by cardiac cells between, across and inside the heart ventricles during the repolarization process produce the voltage gradient responsible for the inscription of the T-wave on the surface electrocardiogram (ECG). Measuring cardiac repolarization including QT interval duration, T-amplitude and overall morphology is a challenging task requiring careful consideration of technical, clinical and physiological factors. Among these factors, the body position (
Krasnow & Bloomfield 1976), temperature (
Surawicz 1995), blood electrolytes (
Surawicz 1995), recording technique, lead choice (
McLaughlin et al. 1996), the subject's age and gender (
Stramba-Badiale et al. 1997) and finally the individual genetic profile are important and should be considered in any investigations (). Most of these factors can be controlled except for genetic predisposition, which is unknown in most cases if no prior congenital diseases are suspected. The regulating mechanisms of VR are apparent when assessing the VR dependence and adaptation to heart rate (HR;
Franz et al. 1988). These dependences are controlled through the central nervous system (CNS;
Magnano et al. 2002). These mechanisms represent confounding factors that are difficult to control because they are different across individuals and they are not yet thoroughly understood.
summarizes these factors and visually schematizes their known interactions. The right part of describes the electrocardiographic expressions of the presence of an arrhythmogenic substrate or myocardial vulnerability to ventricular cardiac arrhythmias. The QT/QTc interval prolongation (
Moss et al. 1985), abnormal repolarization heterogeneity (
Restivo et al. 2004) and exercise-induced ST elevation/depression reveal the existence of an arrhythmogenic substrate (
Antman et al. 2004), while T-wave alternans (
Rosenbaum et al. 1994), abnormal QT/RR dynamicity, increased QT (
Berger 2003) and T-wave variability (
Couderc et al. 2007b) and ST changes are associated with the presence of myocardial vulnerability.
(a) Measuring the ventricular repolarization from the body surface electrocardiogram
The electrocardiographic signals can be polluted by three independent sources of noise and artefacts: (i) muscular activities, electrode movement and respiration (baseline wander, i.e. the drift of the isoelectric line and amplitude modulations of the ECG signal), (ii) external electromagnetic signals of electrical equipment in close proximity, and (iii) interference from the power supply lines (50–60

Hz). Thus, a set of pre-processing steps is necessary to increase the signal-to-noise ratio. Several types of denoising techniques have been employed, and their definitions usually vary according to the type of analysis considered.
(i) ECG signal pre-processing
In general, the use of filters with nonlinear phase response is not acceptable because these filters drastically modify the ECG waveform (and can affect the ECG diagnosis) while filters with linear phase response (or zero phase response) are widely used. The general technical specifications of bandwidth and digital ECG processing (for clinical use) have been defined for more than a decade (
Bailey et al. 1990), but the design of pre-processing ECG techniques remains an active field striving to improve the quality of current technologies. Indeed, in addition to classical digital filters (IIR and FIR), there is a plethora of published methods designed to filter the ECG signal and its VR, which include Wiener and wavelet filtering, principal component analysis, neural networks, Lyapunov exponents, entropy and model-based filtering, among others.
The baseline wander usually lies below 0.5

Hz but can spread to higher frequencies, leading to common frequencies with the T-wave signal (located below 60

Hz). The conventional adaptive algorithms represent an interesting alternative; they fit particularly well to the ECG pre-processing because they do not require a priori information about the relationship between noise and ECG signal (
Widrow et al. 1975;
Yunfeng et al. 2007;
Tianjian et al. 2008). The main drawback of adaptive filter modelling techniques is their need to be adjusted when used on the ECGs of individuals with different cardiac states. In such cases, the wave delineation techniques and filter band construction are rarely applicable across populations.
(ii) ECG beat annotation
Analysing the VR interval requires a careful annotation of the cardiac beats. This step is crucial because the morphology of the repolarization segment on the surface ECG depends directly on the timing, pathway and regulation of the underlying repolarization activity. For instance, the T-wave of ventricular ectopic (or premature) beats has, in general, peculiar morphology because these beats are triggered inside the ventricles. Their repolarization process propagates along very different pathways than in normal sinus beats. A description of the techniques used to annotate cardiac beats is beyond the scope of this review but their description can be found in
Bianchi et al. (2002).
(iii) ECG wave extraction and the QT interval
The identification of the different complexes and waves of the ECG signal is necessary when implementing an analysis of the VR. Fiducial points, such as QRS onset, R peak, J point and T-wave offset (), are required and need to be determined precisely. It is noteworthy that the end of the VR process does not correspond to the end of the T-wave in an ECG lead; rather, it reflects the projection of the ventricular repolarization front onto the associated lead axis. This emphasizes the role of lead selection in repolarization analyses.
Computerized methods for automatically measuring the QT interval are numerous.
Willems (1986) compared QT interval measurements from 11 different algorithms and manual measurements: the standard deviation of differences between the QT measurements varied between 8 and 28

ms. The inter-observer difference was 15

ms.
Savelieva et al. (1998) reported shorter QT interval measurements when based on an automatic method (least-squares fit technique) in comparison with manual measurements. In lead V1, automatic measurements were 25

ms shorter than manual measurements. The errors in the measurements of the automatic method are mainly associated with low-amplitude T-wave (
Murray et al. 1994;
Lund et al. 2002), abnormal morphology of T-wave (biphasic and notched T-wave) and the presence of a U-wave. The definition of the U-wave remains vague for most cardiologists, and where some would identify U-waves, others would see an abnormal T-wave morphology characterized by a notched shape rather than a QT–U complex. This might explain why computerized U-wave analyses are rather scarce today.
Interestingly, engineers have considered mimicking cardiologists' QT measurements using supervised techniques and probabilistic computation (
Hughes & Tarassenko 2004;
Andreao et al. 2006). Such concepts are interesting but they require access to large learning sets of QT measurements, which might be difficult. An international study evaluated the ability of physicians to identify an abnormal QT interval from ECG traces. Correct classification of all QT intervals as either ‘long’ or ‘normal’ was achieved by 96 per cent of QT experts and 62 per cent of arrhythmia experts, but by less than 25 per cent of cardiologists and non-cardiologists (
Viskin et al. 2005). Consequently, the quality of QT interval measurements requires experience and a good understanding of the ECG signal.
(b) Regulation of the ventricular cardiac repolarization
The risk of ventricular arrhythmias and sudden cardiac death in cardiac patients is further enhanced by changes in autonomic regulation of the heart. Observations in patients with heart failure suggested that an increased parasympathetic innervation is associated with poor prognosis (
Van de Borne et al. 1997), while beta-adrenergic receptor blockers reduce the mortality of post-infarction patients (
Shusterman et al. 1998).
The investigational work of
Nollo et al. (1992) represents a pioneering effort to understand the dual control of the autonomic nervous system (ANS) on the cycle length and the VR. This investigation described a common synchronicity between the beat-to-beat variability of the VR interval (QT and RT intervals) and the heart-rate variability (RR intervals) based on the comparison of the location of the peaks of their respective power spectral density functions. Later, this result was confirmed by
Speranza et al. (1993) and
Lombardi et al. (1996). To reduce the repolarization variability due to measurements,
Merri et al. (1989) investigated the variability of intervals inside the QT interval, focusing their analysis on RTm versus RR coupling and demonstrating that the QT dependence to HR primarily affects the early portion of the T-wave (RTm). Subsequently,
Porta et al. (1998b) confirmed this observation and demonstrated that RTm was less robust than RTend to ECG amplitude modulation due to respiration, thus suggesting that a fraction of the RTm variability might be a consequence of the presence of respiratory amplitude modulation. Also, this study revealed an increased robustness of RTm measurements to broadband noise in comparison with RTend.
It is noteworthy that most of these investigations rely on ECGs from healthy individuals in which the interval between the apex and the end of the T-wave is known to be independent of HR.
(i) Cardiac repolarization and heart rate
The most obvious and not yet fully characterized physiological factor influencing the VR is the HR. In clinical studies, power-law models QTc(
i)=
α+
β×RR(
i−1)
γ are used despite the fact that the QT–RR relationship is described as a subject-dependent phenomenon (
Couderc et al. 2000). Fridericia's (QTc=QT×RR
−1/3) and Bazett's (QTc=QT×RR
−1/2) are the most common examples of rate correction formulae, where RR is expressed in seconds and is the interval from the beats prior to the QT interval. The issue of individual specificity of the QT–RR relationship is not so relevant to general clinical cardiology but it becomes important when investigating the cardiac safety of new chemical compounds in which very small QTc prolongation is considered a warning sign of drug cardiotoxicity. Obviously, it becomes crucial when investigating the level of cardiotoxicity of drugs with effects on the autonomic regulation of the heart, such as antidepressant drugs. The QT interval duration is not the only aspect of the repolarization process affected by the HR. The amplitude of the T-wave is also significantly rate dependent. We investigated the T-wave amplitude and its rate in continuous 12-lead digital Holter recordings from 37 healthy individuals (
Couderc et al. 2007a). The value of the slope characterizing the relationship between the amplitude of the T-wave and the RR intervals was 0.55±0.29

μV

ms
−1 in these individuals. This interplay between HR and the amplitude of the T-wave is very often carelessly neglected in analysis of the repolarization signal. Finally, the QT interval and repolarization morphology are assumed to be dependent uniquely on the previous single RR interval (or to be in steady state). The next section will describe how VR intervals are dependent on the history of HR, namely the previous sequence of RR intervals, the role of the ANS and how their relationship is being modelled.
(ii) QT interval adaptation to heart-rate changes and autonomic regulation
From clinical observations, findings around the role of the ANS on the QT interval are difficult to reconcile. Based on pharmacological autonomic blockade, it was found that sympathetic stimulations prolong the QT interval, and vagal stimulations shorten it (
Extramiana et al. 2000). Opposite results were found by
Browne et al. (1983) and
Bellavere et al. (1988). Other authors compared QT intervals between diurnal and nocturnal periods at a similar HR (60

bpm). This difference was consistently close to 18

ms between studies when subtracting nocturnal from diurnal values. Thus, the predominance of the sympathetic tone within the vagosympathetic balance seems to be associated with an increased QT interval. When considering the analysis of the QT–RR slope between day and night, studies have shown that the slope is steeper during daytime. Our group reported slope values between day and night equal to 0.16±0.08 versus 0.12±0.12 (
p=0.0001) based on one of the largest groups of 24

h Holter ECGs including 204 healthy subjects (
Couderc et al. 2005).
Meanwhile, experimental observations have revealed a time of adaptation of the QT interval to HR. One of these experiments was based on measurements of endocardial AP duration in 17 subjects acquired under a specific pacing protocol designed by
Franz et al. (1988). Their protocol included abrupt sustained rate acceleration and deceleration that evidenced the non-steady state and steady state of the VR. The time of steady-state adaptation was found to be several minutes (2–3

min). Repolarization restitution time was shown to be different between individuals (
Pueyo et al. 2003), and the repolarization adaptation to be faster when the heart rhythm is increased than when it is decreased, leading to a ‘hysteresis’ effect (
Lau et al. 1988). Analysis of the shape of such hysteresis has been evaluated as a marker of an increased risk of ventricular arrhythmias in patients exposed to potentially dangerous drugs (
Fossa et al. 2007).
This QT interval dependence on the previous history of RR interval has been investigated by various groups striving to model this relationship in order to produce an improved rate correction technique (in comparison with power-law models) while better characterizing the role of ANS regulation on cardiac cells.
Porta
et al. propose a dynamic bivariate linear parametric model to decompose the RT variability into RR- and non-RR-related variations with a model defined by
The model encompasses two possible memory mechanisms: the history of RR and the previous RT period.
A11 and
A12 represent weighting factors based on
n previous beats (all-zero polynomial of order
n). The
nRT(
i) term is the noise affecting the RT interval independently from the RR variation. Based on a multivariate spectral decomposition, the resulting RT–RR transfer function shows a strong ‘fast dynamics component’ related to the immediately preceding RR including the low- (approx. 0.1

Hz) and high-frequency (approx. 0.2

Hz) concentrations, but more importantly ‘a very slow dynamic component’ unrelated to RR (
Porta et al. 1998a).
Halamek
et al. investigated the QT–RR coupling with a similar concept but using a lower-order model based on a recursive relation of the form
where
e(
i) is a random output. The order of such a model was defined by
K=
n+
m. The optimal transfer function was based on three criteria, including a minimization of the mean level of standard deviation of a residual factor (equation
(2.3)), a reduction of the mean level of the relative variability not described by the model (defined as Rerr=std(QT−QTm)/std(QT)), and finally a reduced variability of parameters in the model:
where
N stands for the total number of analysed beats and QTm is the computed QT for beat
i.
Based on ECGs including large heart-rate variations, Halamek's work led to a three-parameter model including: (i) gain for slow RR variability, (ii) gain for fast RR variability, and (iii) QT delay. This method performed much better than power-law correction formulae in ECGs with very unstable heart-rate state and when applied to patients with a pacemaker, in whom such a model could explain 70 per cent of the QT variability (
Halamek et al. 2007).
Pueyo
et al. presented a full beat-to-beat adaptation analysis using a method based on weighted average RR measurements with weight specifically defined for each cardiac beat (being a linear FIR time-variant filter,
h(
i)), coupled with a time-varying nonlinear function of the averaged preceding RR measurements. The global system is described as follows:
where
Z(
i)=
h(
i)
TRR(
i), and
v(
i) represents the added noise uncorrelated with the RR series. The function
g(..,
a(
i)) is used to account for the different adaptation characteristics along the ECG recording. A recent review by
Pueyo et al. (2009) on her technique was recently released in this journal.
The non-RR-related variation of the QT was consistently revealed by several authors. Almeida
et al. analysed simulated data and 24 real segments of ECG signals using similar techniques to that reported by Porta
et al. Segment-specific models of QT–RR coupling were developed. The study concluded on the presence of significant QT variability uncorrelated with sinus regulation, and suggesting the presence of direct regulation of the VR by the ANS (
Almeida et al. 2006).
Lombardi et al. (1998) using the model from Porta
et al. reported an RT variability fraction driven by HRV significantly greater in young subjects than in post-myocardial infarction patients and age-matched control subjects. The rate dependence of VR remains to be fully elucidated, but one recognizes the role of intrinsic characteristics of myocardial fibres and/or modulation by the ANS (
Coumel & Maison-Blanche 2003). The QT–RR coupling is of great interest and I would emphasize the interest from the medical community in the uncorrelated part of the beat-to-beat variability of the QT interval reflecting a possible impairment of the VR when it is abnormally increased. This assumption is strengthened following the growing number of studies investigating repolarization variability for the risk stratification of cardiac patients with a variety of clinical conditions. Various methods were designed to investigate the role of VR instability as a surrogate marker of cardiac vulnerability: QT variability (
Berger 2003), T-wave alternans (
Rosenbaum 2008) and T-wave morphology instability (
Couderc et al. 2007b).