Computational Modeling of the Cardiovascular Systemevicab.aalto.fi/abem/07sachse/slide/04.pdf ·...

Computational Modeling of theCardiovascular System

Modeling of Electrical Conductionin Cardiac Tissue

CVRTI Frank B. Sachse, University of Utah

Computational Modeling of the Cardiovascular System - Page 2CVRTI

Overview

• Experimental Studies

• Reaction Diffusion Systems• Cable Model• Monodomain Model• Bidomain Model

• Cellular AutomataGroup work & pause

Group work

Experimental Studies of Cardiac Electrical Conduction

Measurement methods• Electrode arrays: Extracellular voltages (similar ECG measurements on body surface) Sampling rate up to several kHz Channels up to 2000• Optical: Transmembrane voltages CCD-camera Photodiode array

Preparations• Cell strands - Purkinje fibers• Small muscles - papillary muscle, trabeculae• Sections - wedge preparations from ventricles• Atria/ventricle • Whole heart

in vivo/in vitro

Color-coded visualization ofextracellular voltages measuredon surface of canine ventricles

Experimental Studies in Papillary Muscle

Rabbit papillary muscle TendonEG measurement

Stimulus positionFix

Oxygenated HEPES solution, 37 °C

Species: Adult New Zealand White rabbits (1.5-3.0 kg)1. Anti-coagulated with heparin and anesthetized with pentobarbital2. Hearts are rapidly excised and moved to dissection tray3. Retrograde perfusion via aorta with modified Tyrode solution4. Opening of right ventricle5. Selection and excision of papillary muscle including onset of chordae tendinae

Criteria: Small diameter, large length, unramified 6. Transfer to horizontal flow-through chamber7. Fixation of muscle8. Measurement

Measurement Results: Electrograms

Stimulus artifact

Distance tostimulus site

Electrical Mapping of Canine Ventricles

http://www.cvrti.utah.edu/research

Optical Mapping of Canine Ventricular Area

http://www.cvrti.utah.edu/research

In-/Outflow of Currents during Excitation

10 ms 20 ms 30 ms

40 ms 50 ms 60 ms

In-/Outflow of Currents during Repolarization

110 ms 130 ms 150 ms

170 ms 190 ms 210 ms

Dipole Approximation and Surface ECG

RA (-)

IIII II

Isotropic/Anisotropic Excitation Propagation (2D)

Simplifications• Homogeneous tissue• Long axis of myocytes parallel to y-axis• Stimulus at point (0,0)

t=2 3 4

Anisotropic x/y - 1/3Velocity vx: 1 / s, vy: 3 / s

Isotropic x/y - 1/1Velocity v: 1 / s

Models of Electrical Conduction

• Macroscopic • Rule based / cellular automata (Moe 62, Eifler-Plonsey 75, Killmann-Wach 91, Wei-Okazaki 95, Werner-Sachse-Dössel 97, Siregar 98, Simelius 00 etc.)

• Reaction diffusion systems• Simplified (FitzHugh-Nagumo 61, Rogers-McCulloch 94 etc.)• Combined with models of cellular electrophysiology

• monodomain

(Rudy 89, Virag-Vesin-Kappenberger 98 etc.)• bidomain (Henriquez-Plonsey 89, Sepulveda-Wiksow 93, Sachse-Seemann-Riedel-Werner-Dössel 00 etc.)

• Microscopic (Spach 81)

Reaction Diffusion System: Cable Model

Reduction to 1DDiscretization

1D Bidomain

Cable Model: Steady State Response to Non-Excitatory Current

Length constant λ describes spatial distance between two points:1. Location of electrode for injection of

current leading to ΔVm.2. Location at which the voltage ΔVm/e

is interpolated from measurements.

Length constant λ is determined by intra-,extracellular and membrane resistances,ri, ro, and rm:

Monodomain Modeling of Electrical Conduction in 2D

Resistor of gap junctions(average conductance betweencell pairs 250-1000 nS)

Myocyteintracellular space surroundedby sarcolemma

Membrane Voltage Source

Ground

Monodomain Model for Electrical Conduction in 2/3D

Transmembrane voltage

Intracellular conductivity tensor(includes conductivity of gapjunctions)

Transmembrane currentIm

External intracellular current

! Surface-volume ratio of cell

"(# i"$i ) = %Im & Isi

"(#e"$

e) = &%I

"mx,t( ) is unknown

Ii=# $

m( ) + Isi

Current through ion channels

Coupling with cell modelNumerical Procedure

2D-Simulation

Array of myocytes

Area: 6.42 mm2 Elements• number: 642

• size: 0.12 mm2 with fiber orientation

Electrophysiology

Noble et al. 98Monodomain model

Stimulus

1. left, middle

2D-Simulation of Arrhythmia

Current Flow in 3D-Model of Electrical Conduction

AnisotropicMonodomain Model

64 x 64 x 128 elementswith electrophysiology of

ventricular myocytes(Noble-Varghese-Kohl-Noble)

Stimulus at center ofplane (Z=0) at time t=0 ms

Fiber orientation parallel to Z-axis

Duration of simulation: 500ms

Colour-coded voltages and streamlines at time t=10 msin plane (Z=0). Colour indicates transmembrane voltage.

Bidomain Modeling of Electrical Conduction in 2D

Resistor of gap junctions(average conductance betweencell pairs 250-1000 nS)

Myocyteintracellular space surroundedby sarcolemma

Membrane Voltage Source

Resistor of extracellular space

Extracellular potential

Transmembrane Voltage!m

Intracellular potential!i

Bidomain Model: Motivation

Intra- and extracellular voltage distribution relevant for:• cardiac excitation propagation• body surface potential maps (BSPM)• electrocardiogram (ECG)

Problem: Realistic cell-based modeling of tissue• complex geometry of cells• large number of cells

Idea „Bidomain Model“• division of space in two domains• separated calculation

Bidomain Model: Basics

Continuum 1: Extracellular space (Interstitial space)

Continuum 2: Intracellular space

Tissue

Group Work

Find and describe other applications for (non-electrical) multidomain models in • physics• biology• …

What might be the domains of a tridomain model of cardiac electrophysiology?

Bidomain Model: Basics

"m ="i #"e

"m : Transmembrane voltage V[ ]

"i / e : Intra - /extracellular potential V[ ]

J = Ji + Je

J : Summary current density A/m2[ ]Ji / e : Intra - /extracellular current density A/m2[ ]

Bidomain Model: Intracellular Space

"# $ i J i( ) =# $ i#%i( ) =&'m " Isi

$ i : Intracellular conductivity S

Ji : Intracellular current density A

%i : Intracellular potential V[ ]

Isi : Intracellular current source density A

Im : Membrane source density A

& : Ratio of membrane surface to volume m-1[ ]

Bidomain Model: Extracellular Space

"# $e Je( ) =# $e#%e( ) = "&'m " Ise

$e : Intracellular conductivity S

Je : Intracellular current density A

%e : Intracellular potential V[ ]

Ise : Intracellular current source density A

Im : Membrane source density A

& : Ratio of membrane surface to volume m-1[ ]

Bidomain Model: Relationships

Generalized Poisson‘s Equation

J = Ji+ J

with %m

= %i" %

J = "#i$%

with #H

= #i+ #

J = "#i$%

with $J = 0 :

Bidomain Model: Numerical Solution

Elliptical partial

differential equations

(Poisson‘s equation)

Ordinary differentialequation(Cell model)

Problem: Spatio-temporal discretization!

" #i"$

m( ) = %" #H"$

=" #i"$

m( ) +" #i"$

"mx,t( ) and "

ex,t( ) are unknown

Simulation of Electrophysiology in Myocardial Area

Myocyte clusterin left ventricular

free wall

128 x 128 x 128 elementswith electrophysiology of

ventricular myocytes(Noble-Varghese-Kohl-Noble)

Inclusion of wall depth dependent

• myocyte orientation• current Ito

Element couplingvia bidomain model

Transmembrane Voltage in Static Myocardial Area

Calcium Concentration in Static Myocardial Area

Rotor in Static Myocardial Area

• Wiener, Rosenblueth 2D sheets • Moe, Rheinboldt, Abildskov Atria (2D sheet) -

• Eiffler, Plonsey Ventricular myocardium (2D sheet)• Adam Human ventricles (ellipsoids)

• Killmann, Wach, Dienstl Human heart (from drawings)• Saxberg, Cohen Myocardium• Wei, Okoazaki, Harumi, Harasawa, Human ventricles (Anisotropic) Hosaka• Siregar, Sinteff, Chadine, Le Beux Human heart (2D)• Werner, Sachse, Dössel Human heart (Anisotropic)• Siregar, Sinteff, Julen, Le Beux Human heart (CAD)…

Cellular Automatons of Cardiac Excitation Propagation

Cellular Automaton: Basics

CellularAutomaton

AnatomicalModel

PhysiologicalParameters

• Autorhythmicity• Transmembrane voltage• Conduction velocity• Refractory period

Cellular Automaton: Modeling of Propagation

Initial excitation

Excitation

Passive element

Active element

Anatomical Model of Heart: Requirements

• left atrial myocardium

• right atrial myocardium

• left ventricular myocardium

• right ventricular myocardium

• Sinus node

• AV node

• His bundle

• Tawara bundle branches

• Purkinje fibers

• Fiber orientation

Image segmentation Manual/rule-based definition

Necessary: Anatomical model of all excitation triggering and conductive components

Example: Components in model of Werner et al.:

Parameters for Simulation: Lookup Tables

• Stimulus

• Time since activation tS• Stimulus frequency f

• Tissue type

•Transmembrane voltage (tS)

• Refractory period (tS)

• Autorhythmicity (tS)

• Conduction velocity (f)

• Excitable neighborhood

(constant)

Known per volume element dV

and for time t

Cellular Automaton: Parameter - Transmembrane Voltage

t [ms]Vm [mV]

Sinus node AV node Atrial myocardium

Course of transmembrane voltage is dependent on tissue type andstimulus frequency.Activation is only possible outside of absolute refractory time.

Most cellular electrophysiological properties, e.g. ion and transmitter concentrations, nervous influences, extracellular potentials etc. areneglected!

Cellular Automaton: Parameterization

Ventricle: Noble-Varghese-Kohl-Noble 98 Atrium: Earm-Hilgemann-Noble 90

Course of transmembrane voltageLongitudinal/transversal propagation velocity

Measurements Numerical experiments} {

Unidirectional Block/Rotation Around Obstacles (2D)

Unidirectional Block in Homogeneous Slice (2D)

Results of Whole Heart Simulations

Transmembrane voltage color-coded at heart surface for physiological excitationpropagation

8 time steps• atrial activation starting at sinus node• ...• atrial repolarisation• ventricular activation starting at subendocardium• ...• ventricular repolarisation

Simulation of 3rd Degree AV Block

Simulation of Infarction

Cellular Automaton: Application in ECG/BSPM Simulation

T / msUm / mV

AnatomieElectrophysiology

NumericalField Calculation• Volume and surface

voltages• Current densities

Cellular Automaton• Transmembrane voltages• Membrane current densities

BodySurfacePotentialMap

Visualization

Images/Movies

Simulation System: Overview

Electrophysiological Model Macro-/microscopic, rule-based/analytical

Electrical Model Body/Thorax

Source modelBidomain approximation

Lead Modele.g. standard leads of

Einthoven and Goldberger

Trans-membrane

voltage

Current sourcedensity

Electrical Voltages

Example: ECG Simulation

BSPMVm

Trans-membranevoltage

Currentsourcedensities

Cellular automatonof excitation propagation

Bidomainmodel

Group Work

Compare cellular automata with mono-/bidomain models of cardiacconduction! Apply ~5 criteria for comparison.

Computational Modeling of the Cardiovascular Systemevicab.aalto.fi/abem/07sachse/slide/04.pdf ·...

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