Origin
Medullary cells are derived from the embryonic neural crest and, as such, are simply modified neurons.
In particular, they are modified postganglionic cells of the Autonomic nervous system that have lost their axons and dendrites, receiving innervation from corresponding preganglionic fibers. The cells form clusters around large blood vessels.
Moreover, as the synapses between pre- and postganglionic fibers are called ganglia, the adrenal medulla is actually a ganglion of the sympathetic nervous system.
Read more about this topic: Adrenal Medulla
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