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Biomechanics • Mechanics applied to biology – the interface of two large fields – includes varied subjects such as: • sport mechanics gait analysis • rehabilitation plant growth • flight of birds marine organism swimming • surgical devices prosthesis design • biomaterials invertebrate mechanics • Our focus: continuum mechanics applied to mammalian physiology • Objective: to solve problems in physiology with mathematical accuracy Continuum Mechanics is concerned with: • the mechanical behavior of solids and fluids … • on a scale in which their physical properties (mass, momentum, energy etc) can be defined by • continuous or piecewise continuous functions • i.e. the scale of interest is “large” compared with the characteristic dimension of the discrete constituents (e.g. cells in tissue, proteins in cells) • in a material continuum, the densities of mass, momentum and energy can be defined at a point, e.g. m lim V 0 V Continuum Mechanics Fundamentals • The key words of continuum mechanics are tensors • • • • such as stress, strain, and rate-of-deformation The rules are the conservation laws of mechanics – mass, momentum and energy. Stress, strain, and rate of deformation vary with position and time. The relation between them is the constitutive law. The constitutive law must generally be determined by experiment but it is constrained by thermodynamic and other physical conditions. The language of continuum mechanics is tensor analysis. Biomechanics: MechanicsPhysiology Continuum Mechanics Physiology Geometry and structure Anatomy and morphology Boundary conditions Environmental influences Conservation laws Biological principles • mass • mass transport, growth • energy • metabolism and energetics • momentum • motion, flow, equilibrium Constitutive equations Structure-function relations Therefore, continuum mechanics provides a mathematical framework for integrating the structure of the cell and tissue to the mechanical function of the whole organ MEASURE MODEL INPUTS PHYSIOLOGICAL TESTING THE CONTINUUM MODEL Governing Equations MODEL IMPLEMENTATION AND SOLUTION CLINICAL AND BIOENGINEERING APPLICATIONS Continuum Model of the Heart MODEL INPUTS anatomy tissue properties cellular properties PHYSIOLOGICAL TESTING myocardial ischemia EP mapping disease models CONTINUUM MODEL OF THE HEART MODEL IMPLEMENTATION Computational methods supercomputing visualization CLINICAL APPLICATIONS myocardial infarction cardiac imaging In-vivo devices pacing and defibrillation tissue engineering Model Inputs ANATOMY Ventricular Anatomy Model Model Inputs TISSUE PROPERTIES uniaxial stretch oim Stress (kPa) Wildtype WT oim 8 6 4 2 0 0.05 0.1 0.15 Strain 0.2 Model Inputs CELLULAR PROPERTIES Myocyte Contractile Mechanics sarcomere length 2.0 µm 2.15 µm tension 1 µN 3 sec 3.5 min Bluhm, McCulloch, Lew. J Biomech. 1995;28:1119-1122 Model Implementation COMPUTATIONAL METHODS The Finite Element Method 14 12 28 29 26 27 15 13 Physiological Testing MYOCARDIAL ISCHEMIA Strains in Myocardial Ischemia Occlusion site Radiopaque beads -0.05 0.00 0.05 Clinical Applications CARDIAC IMAGING End-diastole End-systole Before ventricular reduction surgery Cardiac MRI After ventricular reduction surgery Clinical Applications IN-VIVO DEVICES Bioengineering Design Applications prosthetic heart valves orthopedic implants tissue engineered vascular grafts surgical techniques and devices clinical image analysis software catheters pacemaker leads wheel chairs stents crash helmets airbags infusion pumps athletic shoes etc ... Conservation Laws • Conservation of Mass • Lagrangian • Eulerian (continuity) • Conservation of Momentum • Linear • Angular • Conservation of Energy Conservation of Mass: Lagrangian “The mass m (= 0V) of the material in the initial material volume element V remains constant as the element deforms to volume v with density , and this must hold everywhere (i.e. for V arbitrarily small)” 0 dV d v 0 d X1 d X 2 d X 3 d x1 d x2 d x3 Hence: xi d X1 d X 2 d X 3 X R 0 d v xi det F det U 123 dV X R Thus, for an incompressible solid: = 0 detF = 1 Conservation of Mass: Eulerian The Continuity Equation “The rate of increase of the mass contained in a fixed spatial region R equals the rate at which mass flows into the region across its bounding surface S” Hence by the divergence theorem and the usual approach, we get: D vi div( v ) div v vi 0 t Dt t xi xi Thus, for an incompressible fluid: = constant divv = trD = 0 Conservation of Linear Momentum “The rate of change of linear momentum of the particles that instantaneously lie within a fixed region R equals the resultant of the body forces b per unit mass acting on the particles in R plus the resultant of the surface tractions t(n) acting on the surface S” → Dv divT b Dt or vi vi Tji vk bi t xk x j Conservation of Angular Momentum “The rate of change of angular momentum of the particles that instantaneously lie within a fixed region R equals the resultant couple about the origin of the body forces b per unit mass acting on the particles in R plus the resultant couple of the surface tractions t(n) acting on S”. Subject to the assumption that no distributed body or surface couples act on the material in the region, this law leads simply to the symmetry of the stress tensor: T T T Conservation of Energy “The rate of change of kinetic plus internal energy in the region R equals the rate at which mechanical work is done by the body forces b and surface tractions t(n) acting on the region plus the rate at which heat enters R across S”. With some manipulation, this leads to: De vi qi tr(T D ) div q Tji Dt x j xi where: e is the internal energy density q is the heat flux vector Topic 1: Summary of Key Points • Biomechanics is mechanics applied to biology; our specific focus is continuum mechanics applied to physiology. • Continuum mechanics is based on the conservation of mass, momentum and energy at a spatial scale where these quantities can be approximated as continuous functions. • The constitutive law describes the properties of a particular material. Therefore, a major objective of biomechanics is identifying the constitutive law for biological cells and tissues. • Biomechanics involves the interplay of experimental measurement in living tissues and theoretical analysis based on physical foundations • Biomechanics has numerous applications in biomedical engineering, biophysics, medicine, and other fields. • Knowledge of the fundamental conservation laws of continuum mechanics is essential.