Abstract
During attempted visual fixation, small involuntary eye movements–called fixational eye movements–continuously change of our gaze’s position. Disagreement between the left and right eye positions during such motions can produce diplopia (double vision). Thus, the ability to properly coordinate the two eyes during gaze fixation is critical for stable perception. For the last 50 years, researchers have studied the binocular characteristics of fixational eye movements. Here we review classical and recent studies on the binocular coordination (i.e., degree of conjugacy) of each fixational eye movement type: microsaccades, drift and tremor, and its perceptual contribution to increasing or reducing binocular disparity. We also discuss how amblyopia and other visual pathologies affect the binocular coordination of fixational eye movements.
Introduction
Binocular vision is a sensorimotor process: eye movements work to keep the lines of sight of left and right eye pointing to the same target, and the visual system combines the resultant, slightly different retinal images, to form a single percept (i.e., binocular fusion) and create a sensation of depth (i.e., stereopsis). Correspondence between the left and right retinal images is complicated by the fact that our eyes are never perfectly still, even when we attempt to maintain our gaze on an object of interest. Small fixational eye movements change the degree of alignment between the two eyes and continuously move the retinal images (Figure 1). In spite of this constant motion, we rarely suffer from diplopia (double vision), indicating that the motor system and the visual system are finely tuned to each other. Thus, normal fixational eye movements do not preclude binocular fusion; in other words, fixation disparity (disagreement between the alignment of the left and right eye) stays below a certain threshold that would preclude fusion from taking place. In the presence of pathologies that interfere with proper functioning of the visual or motor mechanisms, such us amblyopia or strabismus, subjects may suffer from diplopia and lack stereoscopic vision. Here we review the oculomotor characteristics of binocular fixation, the perceptual consequences of fixational eye movements on binocular vision, and the clinical aspects of pathological instability during binocular fixation.
Figure 1
The small eye movements that occur during attempted visual fixation consist of an alternation of quick motions called microsaccades (which occur once or twice per second) and periods of relative stability where the eye drifts slowly (Figure 2). A third type of fixational eye movement, beyond the measuring ability of most eye tracking systems, is called tremor, and is characterized by a very small quick oscillation that occurs simultaneously with drifts. Numerous studies have addressed the binocular properties of each kind of fixational eye movement. Most reports agree that microsaccades are generally conjugate, that is, that during microsaccades the two eyes move towards the same direction and by a similar amount, but there is less consensus about drifts.
From a perceptual standpoint, microsaccades have been shown to counteract visual fading and filling-in (Martinez-Conde et al.,
Figure 2

Human fixational eye movements. A 15 s recording showing microsaccades and drifts in the left (blue) and right (red) eyes. The black arrows indicate two instances of drift: in the first drift example (starting from the left), the two eyes start misaligned and finish aligned, whereas in the second example, the two eyes start aligned but finish misaligned. The green arrows indicate two microsaccades, which appear generally conjugate. That is, the two eyes move in the same direction and by a similar amount during each microsaccade. Eye movement recordings conducted with EyeLink 1000, SR Research.
Binocular control of fixation eye movements
In this section we ask two main questions: First, are fixational eye movements conjugate? That is, do they have similar magnitudes and directions in both eyes? And second, does the difference in fixational eye movement directions and magnitudes between the two eyes serve to reduce or to increase fixation disparity? These are two related, but independent, questions. Disconjugate eye movements will reduce or increase disparity as a function of the vector difference between the movements in the two eyes, rather than of each absolute vector.
Microsaccades
Microsaccades are small saccades that occur 1–3 times per second during attempted fixation. They tend to be less than 0.5° in amplitude, but can go up to 1° or more (Rolfs, 2009; Martinez-Conde et al.,
Multiple studies, using different recording systems, have concluded that microsaccades are mostly conjugate eye movements (Krauskopf et al.,
The first binocular recordings of microsaccades, performed in the early 1950s (Lord,
Krauskopf et al. (
High-speed and high-resolution noninvasive video-trackers brought about a renewed interest in the binocular characteristics of fixational eye movements in the last decade. Møller et al. (2002, 2006) showed that microsaccades are generally conjugate. Engbert and Kliegl (
Microsaccades and saccades are often immediately followed by a fast smaller movement in the opposite direction, called a dynamic overshoot. Dynamic overshoots are also saccadic in nature, i.e., they follow the same main peak velocity/magnitude relationship as saccades, and therefore differ from the glissades or vergence eye movements that can also occur after saccades (Kapoula et al.,
Drift
Drift refers to the slow eye movements that occur in between microsaccades during attempted fixation. Drifts are typically smaller and slower than microsaccades (typically less than 0.13 degrees in size, less than 0.5°/per second in speed (Rolfs, 2009)).
Eye drifts during fixation may not be a specific kind of eye movement, but result from the combined action of the gaze holding and retinal stabilization systems: The eye tends to drift slowly towards a “central position”, especially in the darkness and when fixating eccentric targets (Leigh and Zee,
Different studies have obtained discrepant results regarding the binocular coordination of drifts and its role in correcting fixation disparity: Ditchburn and Ginsborg (
Research on the respective roles of drift and microsaccades on correcting fixation disparity has followed a similar path as studies on their role on correcting overall fixation position. Early on, Cornsweet et al. found that microsaccades, but not drift, had a corrective role in both overall fixation position and binocular disparity (Cornsweet,
Tremor
Ocular microtremor is a small wave-like movement of just a few seconds of arc in amplitude and a frequency around 90 Hz (Martinez-Conde et al.,
Torsion
Human eyes have 3° of freedom: they can move not only horizontally and vertically, but also in the torsional plane. Torsional eye movements are rotations of the eye around the line of sight so the direction of gaze does not change. Torsional eye movements can induce disparities between the two eyes, especially in the periphery, and affect the 3D perception of slant (Enright,
Fixational eye movements in binocular vs. monocular viewing
Binocular performance can be superior to monocular performance of the same visual task, a phenomenon related to the brain’s ability to combine effectively the information from the two eyes, known as binocular summation. Binocular summation predicts improved fixation stability under binocular viewing as compared to monocular viewing. Accordingly, González et al. (
Fixational eye movements in near vs. far viewing
Few studies have performed direct measurements of the parameters of fixational eye movements at different viewing distances. One might expect such parameters to change with the vergence effort demanded at each distance. Krauskopf et al. (
Is disparity a stimulus for fixational eye movements?
The fact that microsaccades and drifts correct disparity on average does not necessarily mean that disparity information is used in microsaccade or drift generation. Disparity correction by fixational eye movements could be accomplished in two different ways. First, each eye could act independently to reduce its own fixation position error. Second, visual system’s estimation of disparity estimated could be used to produce a binocular eye movement that reduces such disparity.
Krauskopf et al. (
Later, St.Cyr and Fender (1969) confirmed Krauskopf’s microsaccade findings. They found that the microsaccadic correction of fixation position error did not improve when also considering disparity. However, they did find that disparity information contributed to drift control.
Neural control of binocular fixational eye movements
Because microsaccades are very brief, they must be controlled without visual feedback (i.e., the time lag of visual feedback is longer than the duration of a regular microsaccade, i.e., <30 ms (Otero-Millan et al., 2008). Slow eye movements such as drift can be continuously controlled by visual feedback, however. These two types of control systems are commonly referred to as open-loop and closed-loop. Correspondingly, two different vergence systems, fast and slow, are said to control the binocular coordination of eye movements (Cullen and Van Horn,
Recent neurophysiological evidence indicates that microsaccades are generated by the same circuit as saccades (Hafed et al.,
Horizontal eye movements are controlled by motor neurons in the abducens nucleus (innervating the lateral rectus) and in the oculomotor nucleus (innervating the medial rectus). Neurons in the abducens nucleus project through the medial longitudinal fasciculus (MLF) onto the contralateral oculomotor nucleus. Thus, during a saccade towards the right, neurons in the right abducens and left oculomotor nucleus will show very similar discharge patterns driving the movements of the right and left eyes respectively. In this circuit, the controversy regarding Hering’s and Hemholhtz ideas translates into two possible implementations of disconjugate saccades. Following from Hering’s law, a third group of neurons should modulate the discharge of neurons in the oculomotor nucleus, whereas Helmholtz’s proposal requires two populations of neurons in the abducens nucleus, each corresponding to one eye (Figure 3). Zee et al. have proposed several models implementing both possibilities (Zee et al., 1992).
Figure 3

The two alternative mechanisms to control disconjugate saccades. Left: Hering’s hypothesis requires two independent commands (conjugate and disconjugate) that combine at the level of the oculomotor nucleus (OMN). Right: Helmholtz’s hypothesis requires separate monocular commands arriving at the abducens nucleus from the burst neurons at the paramedial pontine reticular formation (pprf). From Cullen and Van Horn (
Studies have provided evidence in support of both Hering and Helmholtz’s proposals. Neurons in the mesencefalic reticular formation (MRF) encode vergence commands and project to the oculomotor nucleus (Mays,
The generation mechanisms of tremor are unknown, but some studies have proposed that it originates in the ocular motor neurons (OMN; Spauschus et al., 1999). If so, the synchrony between the left and right eye tremor reported by some studies, may result from the synchrony among the motorneurons that drive each eye.
Fixational eye movements and binocular perception
Stereopsis and fixation instability
Our visual system creates the perception of depth based on the small horizontal differences between the images projected onto each eye. This phenomenon is called stereopsis and it requires that both eyes are directed to the same target, so that the two retinal images can be fused into a single percept. If the two eyes are not properly aligned, double vision (diplopia) occurs.
The fact that our eyes move continuously during fixation and we rarely suffer from diplopia limits the possible mechanisms responsible for stereoscopic vision. Thus, to study binocular fusion, stereopsis and diplopia, one must know how much the misalignment between the two eyes varies during fixation, and how much misalignment will result in diplopia.
The maximum amount of disparity or misalignment between the two eyes that the visual system can fuse into a single percept is called Panum’s area, which is classically considered to range between 2 and 20 min of arc (Fender and Julesz,
Figure 4

Panum’s area. (A) Representation of Panum’s area for stabilized and normal vision. (B) Hysteresis of fusion during retinal stabilization. The maximum disparity that allows fusion to start (re-fusion) is smaller than the amount of disparity that the system can maintain during fusion (breakaway), after fusion has already occurred. From Fender and Julesz (
The standard deviation of disparity during human fixation is between 1 and 7 min of arc, depending on the study (Duwaer and van den Brink,
The continuous motion of the eyes and the related changes in disparity make it unlikely that the visual system relies solely on retinal correspondence between the left and the right eye to achieve stereopsis. At least two mechanisms have been proposed: One possibility, put forward by Anderson and Van Essen (
Binocular rivalry
Binocular rivalry refers to the perceptual phenomenon that occurs when two very different visual stimuli are presented to each eye at corresponding retinal locations. In such cases, fusion does not take place, but the observer perceives an alternation of the two stimuli (rather than a mixture of both). Multiple studies have studied the potential relationship between eye movement production and the timing of the perceptual transitions in binocular rivalry (Sabrin and Kertesz, 1980; van Dam and van Ee, 2005, 2006a).
Binocular rivalry is present in stabilized images, arguing against a causal role of eye movements in driving the perceptual transitions (Blake et al.,
Sabrin and Kertesz (1980) fount that microsaccade rates increased by 50% during binocular rivalry conditions vs. non-rivarly conditions, and that the increase happened mainly at the beginning of the periods of right eye dominance. Later, Sabrin and Kertesz (1983) found that simulated microsaccades with parameters matching real microsaccades while viewing stabilized rival stimuli best replicated the transitions occurring during non-stabilized viewing. This suggested that the oculomotor system and the rivalry system are tuned to each other. van Dam and van Ee (2005, 2006b) used orthogonal gratings as binocularly rivalrous stimuli, so that eye movements might produce retinal changes or not depending on their size relative to the grating frequency. They found that only microsaccades that led to retinal shifts were correlated with perceptual transitions during binocular rivalry.
Fixational eye movements in amblyopia and strabismus
Ciuffreda et al. studied the fixational eye movements of subjects affected with amblyopia and strabismus. Their main finding was increased drift in the amblyopic eye during monocular viewing. If the amblyopia was due to strabismus, or in cases of alternating strabismus, the size and frequency of saccadic intrusions also increased (Ciuffreda et al.,
Fixation stability is another related eye movement metric affected by amblyopia. Fixation stability is typically measured as the dispersion of the eye position during attempted fixation, for example BCEA (bivariate contour elliptical area). This parameter combines the influences of microsaccades and drifts, however; thus it cannot differentiate between the effects of either eye movement. González et al. (
Figure 5

Eye movements in a patient with strabismic amblyopia. Horizontal position (X) and vertical position (Y) are plotted for the right eye in black and the left eye in gray. In this case the left eye is the amblyopic eye, and the right eye is the fellow eye (modified from González et al.,
Amblyopia is typically accompanied by poor visual acuity. Subramanian et al. (2013) studied fixation instability in amblyopic eyes of children with strabismus and/or anisometropia (when the two eyes have unequal refractive power). They found that the BCEA was larger in the amblyopic eye than in the fellow eye, especially along the horizontal axis. Fixation instability was correlated with visual acuity, that is, patients with larger BCEA had lower acuity.
In an attempt to improve fixation stability for the amblyopic eye and achieve bifoveal fixation (Raveendran et al., 2014), reduced the contrast of the image shown to the fellow eye so that it was comparable to that perceived via the amblyopic eye. They found that, despite improvement in fixation stability in the amblyopic eye, bifoveal fixation is transient, with the strabismic eye drifting away from foveal alignment.
Another abnormal pattern of binocular fixational eye movements in amblyopic patients is fusion maldevelopment nystagmus syndrome (FMNS; Birch,
Recent research has shown that fixation instability can be used to detect amblyopia in early ages (when it can go undetected up to a third of the times (Loudon et al.,
General discussion
We have reviewed current knowledge about fixational eye movements in relation to binocular vision. An important recurrent theme is the two-way interaction between sensory systems and motor systems. Both sensory and motor aspects must be taken into account when studying visual perception and eye movement control: eye movements affect the sensory input, and the sensory input affects the eye movements in turn. The mutual tuning of fixation instability and the fusional system is a prime example of this interface. The relationship between fixation instability and decreased visual acuity in amblyopia is also indicative of the tight bond between the motor and the sensory facets of fixational eye movements.
Contemporary videooculography techniques are non-invasive and easy to operate, but do not have the same level of precision and accuracy as the scleral-search coil technique (McCamy et al., 2014a). To calculate the vergence position of the eyes one must determine the difference between the positions of the two eyes. Thus, vergence uncertainty will always double the uncertainty of the monocular eye position. This poses a challenge to the accurate measurement of disparity, and new studies conducted with videooculography techniques tend to report larger disparity values than those found in earlier research. Special care should be taken in calibrating the eye tracking set up in order to study vergence eye movements (De Luca et al.,
Whereas recent studies have shed light on the generation and roles of microsaccades (see Martinez-Conde et al.,
Statements
Conflict of interest
The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest.
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Summary
Keywords
microsaccades, drift, disparity, fixation, ocular, amblyopia
Citation
Otero-Millan J, Macknik SL and Martinez-Conde S (2014) Fixational eye movements and binocular vision. Front. Integr. Neurosci. 8:52. doi: 10.3389/fnint.2014.00052
Received
31 March 2014
Accepted
03 June 2014
Published
07 July 2014
Volume
8 - 2014
Edited by
Olivier A. Coubard, CNS-fed, France
Reviewed by
Alessandra Rufa, Università di Siena, Italy; Matteo Valsecchi, Justus-Liebig Universität Giessen, Germany
Copyright
© 2014 Otero-Millan, Macknik and Martinez-Conde.
This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
*Correspondence: Susana Martinez-Conde, Department of Neurobiology, Barrow Neurological Institute, 350 W Thomas Rd., Phoenix, AZ 85013, USA e-mail: smart@neuralcorrelate.com
This article was submitted to the journal Frontiers in Integrative Neuroscience.
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