Boundary conditions at the cartilage-synovial fluid interface for joint lubrication and theoretical verifications

The objective of this study is to establish and verify the set of boundary conditions at the interface between a biphasic mixture (articular cartilage) and a Newtonian or non-Newtonian fluid (synovial fluid) such that a set of well-posed mathematical problems may be formulated to investigate joint lubrication problems. A "pseudo-no-slip" kinematic boundary condition is proposed based upon the principle that the conditions at the interface between mixtures or mixtures and fluids must reduce to those boundary conditions in single phase continuum mechanics. From this proposed kinematic boundary condition, and balances of mass, momentum and energy, the boundary conditions at the interface between a biphasic mixture and a Newtonian or non-Newtonian fluid are mathematically derived. Based upon these general results, the appropriate boundary conditions needed in modeling the cartilage-synovial fluid-cartilage lubrication problem are deduced. For two simple cases where a Newtonian viscous fluid is forced to flow (with imposed Couette or Poiseuille flow conditions) over a porous-permeable biphasic material of relatively low permeability, the well known empirical Taylor slip condition may be derived using matched asymptotic analysis of the boundary layer at the interface.     

Tissue-fluid interface analysis using biphasic finite element method

Numerical studies on fluid-structure interaction have primarily relied on decoupling the solid and fluid sub-domains with the interactions treated as external boundary conditions on the individual sub-domains. The finite element applications for the fluid-structure interactions can be divided into iterative algorithms and sequential algorithms. In this paper, a new computational methodology for the analysis of tissue-fluid interaction problems is presented. The whole computational domain is treated as a single biphasic continuum, and the same space and time discretisation is carried out for the sub-domains using a penalty-based finite element model. This procedure does not require the explicit modelling of additional boundary conditions or interface elements. The developed biphasic interface finite element model is used in analysing blood flow through normal and stenotic arteries. The increase in fluid flow velocity when passing through a stenosed artery and the drop in pressure at the region are captured using this method.     

A computational model of ameboid deformation and locomotion

Traditional continuum models of ameboid deformation and locomotion are limited by the computational difficulties intrinsic in free boundary conditions. A new model using the immersed boundary method overcomes these difficulties by representing the cell as a force field immersed in fluid domain. The forces can be derived from a direct mechanical interpretation of such cell components as the cell membrane, the actin cortex, and the transmembrane adhesions between the cytoskeleton and the substratum. The numerical cytoskeleton, modeled as a dynamic network of immersed springs, is able to qualitatively model the passive mechanical behavior of a shear-thinning viscoelastic fluid (Bottino 1997). The same network is used to generate active protrusive and contractile forces. When coordinated with the attachment-detachment cycle of the cell's adhesions to the substratum, these forces produce directed locomotion of the model ameba. With this model it is possible to study the effects of altering the numerical parameters upon the motility of the model cell in a manner suggestive of genetic deletion experiments. In the context of this ameboid cell model and its numerical implementation, simulations involving multicellular interaction, detailed internal signaling, and complex substrate geometries are tractable. Received: 5 January 1998 / Revised version: 23 March 1998 / Accepted: 26 March 1998     

The discrete nature of trabecular bone microarchitecture affects implant stability

Small endosseous implants, such as screws, are important components of modern orthopedics and dentistry. Hence they have to reliably fulfill a variety of requirements, which makes the development of such implants challenging. Finite element analysis is a widely used computational tool used to analyze and optimize implant stability in bone. For these purposes, bone is generally modeled as a continuum material. However, bone failure and bone adaptation processes are occurring at the discrete level of individual trabeculae; hence the assessment of stresses and strains at this level is relevant. Therefore, the aim of the present study was to investigate how peri-implant strain distribution and load transfer between implant and bone are affected by the continuum assumption. We performed a computational study in which cancellous screws were inserted in continuum and discrete models of trabecular bone; axial loading was simulated. We found strong differences in bone-implant stiffness between the discrete and continuum bone model. They depended on bone density and applied boundary conditions. Furthermore, load transfer from the screw to the surrounding bone differed strongly between the continuum and discrete models, especially for low-density bone. Based on our findings we conclude that continuum bone models are of limited use for finite element analysis of peri-implant mechanical loading in trabecular bone when a precise quantification of peri-implant stresses and strains is required. Therefore, for the assessment and improvement of trabecular bone implants, finite element models which accurately represent trabecular microarchitecture should be used.     

Small scale membrane mechanics

Large scale changes to lipid bilayer shapes are well represented by the Helfrich model. However, there are membrane processes that take place at smaller length scales that this model cannot address. In this work, we present a one-dimensional continuum model that captures the mechanics of the lipid bilayer membrane at the length scale of the lipids themselves. The model is developed using the Cosserat theory of surfaces with lipid orientation, or ‘tilt’, as the fundamental degree of freedom. The Helfrich model can be recovered as a special case when the curvatures are small and the lipid tilt is everywhere zero. We use the tilt model to study local membrane deformations in response to a protein inclusion. Parameter estimates and boundary conditions are obtained from a coarse-grained molecular model using dissipative particle dynamics (DPD) to capture the same phenomenon. The continuum model is able to reproduce the membrane bending, stretch and lipid tilt as seen in the DPD model. The lipid tilt angle relaxes to the bulk tilt angle within 5–6 nm from the protein inclusion. Importantly, for large tilt gradients induced by the proteins, the tilt energy contribution is larger than the bending energy contribution. Thus, the continuum model of tilt accurately captures behaviors at length scales shorter than the membrane thickness.     

Rate theory models for ion transport through rigid pores. I. Time-dependent analysis in the case of vanishing interactions

In this first of a series of papers concerning the theoretical analysis of rate theory models for ion transport through rigid pores, the case of vanishing interactions is investigated. "Rigidity" means that ions crossing membranes through pores see a fixed structure of the pores, not changing in time. A single pore is considered to be a sequence of (n + 1) activation barriers separated by n energy minima. The explicit analytical treatment is restricted to pores with regular internal barrier structure, including the nonequilibrium situation of an applied electric field. In this case the connection with continuum diffusion models is demonstrated by performing in the limit n leads to infinity (n = number of binding sites within the pores) the transition to continuum. Thus, from diffusion equations describing a discrete number of jumps, the corresponding diffusion-like partial differential equations and boundary conditions are generated. For regular pores, from the time dependent solutions of the discrete equations, the corresponding solutions of the continuum equations are explicitly generated. The time-dependent relaxation behaviour of the discrete model is in good agreement with the continuum model if one assumes more than two binding sites in the pores.     

Theory of deformable substrates for cell motility studies.

Linear theory is used to relate the tractions F applied by a cell to the resulting deformation of fluid, viscoelastic, or solid substrates. The theory is used to fit data in which the motion of a fluid surface in the neighborhood of a motile keratocyte is visualized with the aid of embedded beads. The data are best fit by modeling the surface layer as a two-dimensional, nearly incompressible fluid. The data favor this model over another plausible model, the planar free boundary of a three-dimensional fluid. In the resulting diagrams for the distribution of F, it is found that both curl F and div F are concentrated in the lateral extrema of the lamellipodium. In a second investigation, a nonlinear theory of weak wrinkles in a solid substrate is proposed. The in-plane stress tensor plays the role of a metric. Compression wrinkles are found in regions where this metric is negative definite. Tension wrinkles arise, in linear approximation, at points on the boundary between positive definite and indefinite regions, and are conjectured to be stabilized by nonlinear effects. Data for the wrinkles that would be produced by keratocyte traction are computed, and these agree qualitatively with observed keratocyte wrinkles.     

One-dimensional steady continuum model of retraction of pseudopod in leukocytes

A one-dimensional steady state continuum mechanics model of retraction of pseudopod in leukocytes is developed. The retracting pseudopod is assumed to move bodily toward the main cell body, the bulk motion of which can be represented by cytoplasmic flow within a typical stream tube through the leukocyte. The stream tube is approximated by a frictionless tube with prescribed geometry. The passive rheological properties of cytoplasm in the main cell body and in the pseudopod are modeled, respectively, by Maxwell fluid and Hookean solid. The two regions are assumed to be separated by a sharp interface at which actin gel solates and thereby changes its rheological properties as it flows from the pseudopod to the main cell body. The driving mechanism responsible for the active retraction motion is hypothesized to be a spontaneous deformation of the actin gel, analogous but not necessarily equal to the well known actin-myosin interaction. This results in an active contractile stress being developed in the pseudopod as well as in the cell cortex. The transverse traction pulls against the inclined wall of the stream tube and is transduced into an axial stress gradient, which in turn drives the flow. The tension on the tube wall is picked up by the prestressed cortical shell. Governing equations and boundary conditions are derived. A solution is obtained. Sample data are computed. Comparison of the theory with experiments shows that the model is compatible to the observations.     

Boundary element modeling of biomolecular transport.

The boundary element (BE) methodology has emerged as a powerful tool in modeling a broad range of different transport phenomena of biomolecules in dilute solution. These include: sedimentation, diffusion (translational and rotational), intrinsic viscosity, and free solution electrophoresis. Modeling is carried out in the framework of the continuum primitive model where the biomolecule is modeled as an arbitrary array of solid platelets that contains fixed charges within. The surrounding fluid is modeled as a electrodynamic/hydrodynamic continuum which obeys the Poisson and low Reynolds number Navier-Stokes equations. Ion relaxation (the distortion of the ion atmosphere from equilibrium) can also be accounted for by solving the coupled ion transport equation (for each mobile ion species present), Poisson, and Navier-Stokes equations in tandem. Several examples are presented in this work. It is first applied to a detailed model of 20 bp DNA and it is concluded that it is not necessary to include a layer of bound water to reconcile experimental and model translational diffusion constants. With regards to diffusion, the BE approach is also applied to a 375-bp supercoiled DNA model (without ion relaxation), and also 20-60-bp DNA fragments with ion relaxation included in order to assess the magnitude of the electrolyte friction effect under a number of different salt/buffer conditions. Attention is then turned to modeling the electrophoretic mobility of three different cases. First of all, we consider a sphere with a central charge large enough in magnitude to insure that ion relaxation is significant. Excellent agreement with independent theory is obtained. Finally, it is applied to modeling short DNA fragments in KCl and Tris acetate salts. Quantitative agreement is achieved when the salt is KCl, but the calculated (absolute) mobility in Tris acetate is substantially higher than the experimental value. The interpretation of this is that there is an association between Tris(+) and DNA (perhaps hydrogen bonding) not accounted for in our modeling that is responsible for this discrepancy.     

Proton transport across charged membrane and pH oscillations.

Based on Eyring's multibarrier activation process, a mathematical model and equation is developed to account for proton diffusion through an immobilized protein and enzyme membrane perfused with an electrolyte, substrate, and a buffer. With this model we find that, in the presence of a buffer, our solution approaches the continuum case very rapidly. We apply our model to membranes composed of papain and bovine serum albumin and find that our theory closely stimulates the experimental observations on the effect of salt and buffer on proton diffusion. Our theory shows that the pH oscillations observed in the diffusion controlled papain-benzoyl-L-arginine ethyl ester (BAEE) reaction may be the result of CO2 dissolved in the bath at high pH. In our theory, under certain conditions and in agreement with experimental observation, the buffer penetration depth oscillates near the boundary of a papain membrane in a solution containing BAEE and borate. We also find that at low ionic strength small ions as well as a buffer are seen to oscillate if a membrane is highly charged.     

A poroelastic continuum model of the cupula partition and the response dynamics of the vestibular semicircular canal.

Using mixture theory, an axisymmetric continuum model is presented describing the response dynamics of the vestibular semicircular canals to canal-centered head rotation in which the cupula partition is modeled as a poroelastic mixture of interpenetrating solid and fluid constituents. The solid matrix of the cupula is assumed to behave as a linear elastic material, whereas the fluid constituent is assumed to be Newtonian. A regular perturbation analysis of the fluid dynamics in the canal provides a dynamic boundary condition, which acts across the cupula partition. Numerical solution of the coupled system of momentum equations provides the spatio-temporal displacement fields for both the fluid and solid constituents of the cupula. Results indicate that at frequencies above 1 Hz, the fluid constituent is dynamically entrained by the solid matrix such that their motions are bound as if to exist as a single component. The resulting high-frequency response is consistent with the macromechanical response predicted by single-component viscoelastic models of the cupula. Below 1 Hz, the dynamic coupling between the fluid and solid constituents weakens and the transcupular differential pressure is sufficient to force fluid through the mixture with little deformation of the solid matrix. Results are sensitive to the precise value of the cupular permeability. One of the most important distinctions between the present analysis and previous impermeable models of the cupula arises at the micromechanical level in terms of the local fluid flow that is predicted to occur within the cupula and around the ciliary bundles and sensory hair cells. Another important result reveals that the permeation dynamics predicted below 1 Hz gives rise to the same low-frequency macromechanical response as would occur with an impermeable viscoelastic structure having a much greater stiffness. Current estimates of the mechanical stiffness of the cupula, based solely on afferent nerve data, may therefore overestimate the true value intrinsic to the solid matrix by as much as an order of magnitude.     

The dynamics of a hydrogel strip.

A hydrogel strip relaxes when it is stretched. The decay in tensile stress can be ascribed primarily to strain-induced swelling of the polymer network--a result that follows from a continuum model of the gel-solvent system. An equation of motion and a linear constitutive law of the polymer network, Darcy's law, and the conservation of mass of the network and interstitial fluid are solved with boundary and initial conditions appropriate for a stress-relaxation experiment. This model predicts that the time constant of decay depends inversely upon the square of the thickness of the sample. This result is confirmed by experiments. In addition, the network shear modulus, mu, bulk modulus, k, and hydraulic permeability, 1/f, which are estimated by non-linear regression, all agree with measurements obtained using other methods.     

A Lagrange multiplier mixed finite element formulation for three-dimensional contact of biphasic tissues

A three-dimensional (3D) contact finite element formulation has been developed for biological soft tissue-to-tissue contact analysis. The linear biphasic theory of Mow, Holmes, and Lai (1984, J. Biomech., 17(5), pp. 377-394) based on continuum mixture theory, is adopted to describe the hydrated soft tissue as a continuum of solid and fluid phases. Four contact continuity conditions derived for biphasic mixtures by Hou et al. (1989, ASME J. Biomech. Eng., 111(1), pp. 78-87) are introduced on the assumed contact surface, and a weighted residual method has been used to derive a mixed velocity-pressure finite element contact formulation. The Lagrange multiplier method is used to enforce two of the four contact continuity conditions, while the other two conditions are introduced directly into the weighted residual statement. Alternate formulations are possible, which differ in the choice of continuity conditions that are enforced with Lagrange multipliers. Primary attention is focused on a formulation that enforces the normal solid traction and relative fluid flow continuity conditions on the contact surface using Lagrange multipliers. An alternate approach, in which the multipliers enforce normal solid traction and pressure continuity conditions, is also discussed. The contact nonlinearity is treated with an iterative algorithm, where the assumed area is either extended or reduced based on the validity of the solution relative to contact conditions. The resulting first-order system of equations is solved in time using the generalized finite difference scheme. The formulation is validated by a series of increasingly complex canonical problems, including the confined and unconfined compression, the Hertz contact problem, and two biphasic indentation tests. As a clinical demonstration of the capability of the contact analysis, the gleno-humeral joint contact of human shoulders is analyzed using an idealized 3D geometry. In the joint, both glenoid and humeral head cartilage experience maximum tensile and compressive stresses are at the cartilage-bone interface, away from the center of the contact area.     

Ovoid geometry of the Pacinian corpuscle is not the determining factor for mechanical excitation

Static displacements in Pacinian corpuscles (PCs) were measured using video microscopy. Mechanical stimuli of 10-40 microm steps were applied to the PC capsule surfaces using cylindrical contacts with different diameters. Displacements parallel to the stimulation axis were measured at various locations in the focal plane of the optical setup. In contrast to previous data in the literature, the displacements within the corpuscle were found to be linearly related to the indentation amplitude. Displacements decreased as a function of lamella depth, with a more negative slope close to the surface and less negative slope at deeper locations. The experimental data were compared to the predictions of a previous mechanical model, and to the results of two new models: (1) elastic semi-infinite continuum model; (2) ovoid isotropic finite-element model. Although the previous model did not specify displacement boundary conditions, it predicted the current experimental results well. On the other hand, the experimental displacements were found to be smaller than those predicted by the semi-infinite continuum and finite-element models. However, both semi-infinite continuum and finite-element models yielded close results, which show that the three-dimensional ovoid geometry of the corpuscle is not the primary factor for determining the displacements in physiological conditions. Furthermore, simulations with the finite-element model using a wide range of material properties yielded similar results. This supports the hypothesis that a homogeneous isotropic model for the PC cannot predict experimental results. The modeling analyses suggest that the experimental results are largely affected by the displacement of the incompressible interlamellar fluid and the layered structure of the corpuscle.     

Dependence of nanoscale friction and adhesion properties of articular cartilage on contact load

Boundary lubrication of articular cartilage by conformal, molecularly thin films reduces friction and adhesion between asperities at the cartilage-cartilage contact interface when the contact conditions are not conducive to fluid film lubrication. In this study, the nanoscale friction and adhesion properties of articular cartilage from typical load-bearing and non-load-bearing joint regions were studied in the boundary lubrication regime under a range of physiological contact pressures using an atomic force microscope (AFM). Adhesion of load-bearing cartilage was found to be much lower than that of non-load-bearing cartilage. In addition, load-bearing cartilage demonstrated steady and low friction coefficient through the entire load range examined, whereas non-load-bearing cartilage showed higher friction coefficient that decreased nonlinearly with increasing normal load. AFM imaging and roughness calculations indicated that the above trends in the nanotribological properties of cartilage are not due to topographical (roughness) differences. However, immunohistochemistry revealed consistently higher surface concentration of boundary lubricant at load-bearing joint regions. The results of this study suggest that under contact conditions leading to joint starvation from fluid lubrication, the higher content of boundary lubricant at load-bearing cartilage sites preserves synovial joint function by minimizing adhesion and wear at asperity microcontacts, which are precursors for tissue degeneration.     

Ovoid geometry of the Pacinian corpuscle is not the determining factor for mechanical excitation

Static displacements in Pacinian corpuscles (PCs) were measured using video microscopy. Mechanical stimuli of 10–40?µm steps were applied to the PC capsule surfaces using cylindrical contactors with different diameters. Displacements parallel to the stimulation axis were measured at various locations in the focal plane of the optical setup. In contrast to previous data in the literature, the displacements within the corpuscle were found to be linearly related to the indentation amplitude. Displacements decreased as a function of lamella depth, with a more negative slope close to the surface and less negative slope at deeper locations. The experimental data were compared to the predictions of a previous mechanical model, and to the results of two new models: () elastic semi-infinite continuum model; () ovoid isotropic finite-element model. Although the previous model did not specify displacement boundary conditions, it predicted the current experimental results well. On the other hand, the experimental displacements were found to be smaller than those predicted by the semi-infinite continuum and finite-element models. However, both semi-infinite continuum and finite-element models yielded close results, which show that the three-dimensional ovoid geometry of the corpuscle is not the primary factor for determining the displacements in physiological conditions. Furthermore, simulations with the finite-element model using a wide range of material properties yielded similar results. This supports the hypothesis that a homogeneous isotropic model for the PC cannot predict experimental results. The modeling analyses suggest that the experimental results are largely affected by the displacement of the incompressible interlamellar fluid and the layered structure of the corpuscle.     

Continuum diffusion reaction rate calculations of wild-type and mutant mouse acetylcholinesterase: adaptive finite element analysis

As described previously, continuum models, such as the Smoluchowski equation, offer a scalable framework for studying diffusion in biomolecular systems. This work presents new developments in the efficient solution of the continuum diffusion equation. Specifically, we present methods for adaptively refining finite element solutions of the Smoluchowski equation based on a posteriori error estimates. We also describe new, molecular-surface-based models, for diffusional reaction boundary criteria and compare results obtained from these models with the traditional spherical criteria. The new methods are validated by comparison of the calculated reaction rates with experimental values for wild-type and mutant forms of mouse acetylcholinesterase. The results show good agreement with experiment and help to define optimal reactive boundary conditions.     

Incorporation of surface tension into molecular dynamics simulation of an interface: a fluid phase lipid bilayer membrane.

In this paper we report on the molecular dynamics simulation of a fluid phase hydrated dimyristoylphosphatidylcholine bilayer. The initial configuration of the lipid was the x-ray crystal structure. A distinctive feature of this simulation is that, upon heating the system, the fluid phase emerged from parameters, initial conditions, and boundary conditions determined independently of the collective properties of the fluid phase. The initial conditions did not include chain disorder characteristic of the fluid phase. The partial charges on the lipids were determined by ab initio self-consistent field calculations and required no adjustment to produce a fluid phase. The boundary conditions were constant pressure and temperature. Thus the membrane was not explicitly required to assume an area/phospholipid molecule thought to be characteristic of the fluid phase, as is the case in constant volume simulations. Normal to the membrane plane, the pressure was 1 atmosphere, corresponding to the normal laboratory situation. Parallel to the membrane plane a negative pressure of -100 atmospheres was applied, derived from the measured surface tension of a monolayer at an air-water interface. The measured features of the computed membrane are generally in close agreement with experiment. Our results confirm the concept that, for appropriately matched temperature and surface pressure, a monolayer is a close approximation to one-half of a bilayer. Our results suggest that the surface area per phospholipid molecule for fluid phosphatidylcholine bilayer membranes is smaller than has generally been assumed in computational studies at constant volume. Our results confirm that the basis of the measured dipole potential is primarily water orientations and also suggest the presence of potential barriers for the movement of positive charges across the water-headgroup interfacial region of the phospholipid.