Comparison of system identification techniques in the analysis of a phantom for studying shaken-baby syndrome

This article compares two techniques for estimating the parameters describing the motion of a phantom designed to investigate shaking baby syndrome. Parameters of a simple computational model and an impulse response function for a linear second order system were both fitted using kinematic measurements of the motion of an inverted jointed pendulum. From the two methods respectively, the rotational stiffness of the joint was calculated to be 1.396 kgm(2) s(-2) and 1.355 kgm(2) s(-2) and the damping coefficient was calculated to be 0.0142 kgm(2) s(-1) and 0.0133 kgm(2) s(-1). The parameter estimates were similar demonstrating that the two techniques were comparable. Identifying accurate parameters will allow more complex phantoms to be modeled, and will provide insight into the relationship between the shaking of the torso and the resultant head motion during shaken baby syndrome.

A work-loop calorimeter for measuring the force-length-heat relationship of working excised cardiac muscle fibers

Isolated cardiac trabeculae are convenient specimens with which to study the properties of cardiac muscle under a variety of controlled conditions in vitro. We have developed an instrument for measuring the mechanical and energetic properties of continuously-superfused cardiac trabeculae. Our instrument is capable of dynamically transitioning between fixed-length, isometric and isotonic modes of control during the time-course of a muscle twitch, allowing us to impart force-length work-loops that mimic the behaviour of cardiac muscle in vivo. Simultaneously, sensitive temperature transducers quantify muscle heat production. The combination of these interventions and measurements yields unique insight into the energetic efficiency of living cardiac muscle.

A vapor pressure thermometer for use in muscle microcalorimetry

Measurement of the energy consumption of isolated cardiac trabeculae requires highly sensitive temperature sensors. In this paper we describe and characterize an initial prototype of a vapor pressure thermometer being designed and built for application to muscle microcalorimetry. The device exploits the change in vapor pressure with temperature of a solvent and the change in pressure with volume of a gas. The sensor achieves a sensitivity of 86 μm/K and a resolution of 3.6 μK. Predictions from a finite element model of the expected displacement compare favorably with the tests performed.

A thermal stereoscope for surface reconstruction of the diabetic foot

We have constructed a thermal stereoscope utilizing three digital SLR cameras and an infrared camera for rapid surface reconstruction of diabetic foot geometry and temperature distribution. A structured light pattern is projected on to the foot to provide approximately 2500 reconstructed points. The reconstructed point cloud is then fitted to a finite element model, producing root mean squared errors of less than 0.4 mm.

Stress development, heat production and dynamic modulus of rat isolated cardiac trabeculae revealed in a flow-through micro-mechano-calorimeter

Progress toward understanding the thermo-mechanical behavior of isolated cardiac muscle, excised from either healthy or diseased heart, is contingent on being able to measure simultaneously the stress (force per cross-sectional area) and heat production. Determination of dynamic modulus (dynamic stiffness times muscle length per cross-sectional area) sheds further light on the behavior of the force-and heat-generating actin-myosin cross-bridges. We are in a unique position to perform such measurements, given the recent completion of a micro-mechano-calorimeter. In this paper, we characterize the micro-mechano-calorimeter and present experimental results of twitch stress, heat per twitch and dynamic modulus measured in rat right-ventricular trabeculae at varied stimulus frequencies and muscle lengths. The minute radial dimensions of cardiac trabeculae (which approximate those of a human hair) ensure adequate provision of oxygen and nutrients via diffusion from the continuously replenished superfusate flowing through the measurement chamber. This enables investigation of the thermo-mechanical performance of cardiac trabeculae for many hours.

Energetics of stress production in isolated cardiac trabeculae from the rat

The heat liberated upon stress production in isolated cardiac muscle provides insights into the complex thermodynamic processes underlying mechanical contraction. To that end, we simultaneously measured the heat and stress (force per cross-sectional area) production of cardiac trabeculae from rats using a flow-through micromechanocalorimeter. In a flowing stream of O(2)-equilibrated Tyrode solution (∼22°C), the stress and heat production of actively contracting trabeculae were varied by 1) altering stimulus frequency (0.2-4 Hz) at optimal muscle length (L(o)), 2) reducing muscle length below L(o) at 0.2 and 2 Hz, and 3) changing extracellular Ca(2+) concentrations ([Ca(2+)](o); 1 and 2 mM). Linear regression lines were adequate to fit the active heat-stress data. The active heat-stress relationships were independent of stimulus frequency and muscle length but were dependent on [Ca(2+)](o), having greater intercepts at 2 mM [Ca(2+)](o) than at 1 mM [Ca(2+)](o) (3.5 and 2.0 kJ·m(-3)·twitch(-1), respectively). The slopes among the heat-stress relationships did not differ. At the highest experimental stimulus frequency, pronounced elevation of diastolic Ca(2+) resulted in incomplete twitch relaxation. The resulting increase of diastolic stress, which occurred with negligible metabolic energy expenditure, subsequently diminished due to the time-dependent loss of myofilament Ca(2+)-sensitivity.

A unique micromechanocalorimeter for simultaneous measurement of heat rate and force production of cardiac trabeculae carneae

To study cardiac muscle energetics quantitatively, it is of paramount importance to measure, simultaneously, mechanical and thermal performance. Ideally, this should be achieved under conditions that minimize the risk of tissue anoxia, especially under high rates of energy expenditure. In vitro, this consideration necessitates the use of preparations of small radial dimensions. To that end, we have constructed a unique micromechanocalorimeter, consisting of an open-ended flow-through microcalorimeter, a force transducer, and a pair of muscle-length actuators. The device enables the metabolic and mechanical performance of cardiac trabeculae carneae to be investigated for prolonged periods in a continuously replenished oxygen- and nutrient-rich environment.

Changes of surface and t-tubular membrane excitability during fatigue with repeated tetani in isolated mouse fast- and slow-twitch muscle

We investigated whether impaired sarcolemmal excitability causes severe fatigue during repeated tetani in isolated mouse skeletal muscle. Slow-twitch soleus or fast-twitch extensor digitorum longus (EDL) muscles underwent intensive stimulation (standard protocol: 125 Hz for 500 ms, every second, parallel plate electrodes, 20 V, 0.1-ms pulses). Interventions with altered stimulation characteristics were tested either on the entire fatigue profile or after 90- to 100-s stimulation. d-tubocurarine did not alter the fatigue profile in soleus thereby eliminating impaired neuromuscular transmission. Lower stimulation frequencies partially restored peak force, especially in soleus. The twitch force-stimulation strength relationship shifted towards higher voltages in both muscle types, with a much larger shift in EDL. Augmenting pulse strength restored tetanic force from 29% (4.4 V) to 79% (20 V), or slowed fatigue in soleus. Increasing pulse duration (0.1 to 1.0 ms) restored tetanic force from 8 to 46% in EDL and from 41 to 90% in soleus; 0.25-ms pulses restored tetanic force to 83% in soleus. Switching from transverse wire to parallel plate stimulation increased tetanic force from 34 to 63%, and fatigue was exacerbated with wires compared with plates in soleus. The combined data suggest that impaired excitability (disrupted action potential generation) within trains is the main contributor (∼50% initial force) to severe fatigue in both muscle types, the surface rather than t-tubular membrane is the main site of impairment during wire stimulation, and extreme fatigue in EDL includes an increased action potential threshold leading to inexcitable fibers. Moreover, mathematical modeling discounts anoxia as the major contributor to fatigue during our stimulation regime in isolated muscles.

The effect of jet parameters on jet injection

Current jet injection devices often utilize compressed air or springs to create a high-pressure fluid jet capable of piercing the skin. However, these devices are limited to a single invariable injection profile based on the impulse created by the compressed air or spring and therefore the parameters that affect injection are not well understood. To determine the effect of injection parameters on jet injection into tissue, including the effect of the fluid ejection profile on the injection, a controllable jet injection device was used to perform experiments into sheep and pig tissue. This paper demonstrates the importance of an initial peak in injection pressure and a subsequent lower follow-through pressure for successful jet injection into sheep and pig tissue.

A modular instrument for exploring the mechanics of cardiac myocytes

The cardiac ventricular myocyte is a key experimental system for exploring the mechanical properties of the diseased and healthy heart. Millions of primary myocytes, which remain viable for 4–6 h, can be readily isolated from animal models. However, currently available instrumentation allows the mechanical properties of only a few physically loaded myocytes to be explored within 4–6 h. Here we describe a modular and inexpensive prototype instrument that could form the basis of an array of devices for probing the mechanical properties of single mammalian myocytes in parallel. This device would greatly increase the throughput of scientific experimentation and could be applied as a high-content screening instrument in the pharmaceutical industry. The instrument module consists of two independently controlled Lorentz force actuators-force transducers in the form of 0.025 × 1 × 5 mm stainless steel cantilevers with 0.5 m/N compliance and 360-Hz resonant frequency. Optical position sensors focused on each cantilever provide position and force resolution of <1 nm/√Hz and <2 nN/√Hz, respectively. The motor structure can produce peak displacements and forces of ±200 μm and ±400 μN, respectively. Custom Visual Basic.Net software provides data acquisition, signal processing, and digital control of cantilever position. The functionality of the instrument was demonstrated by implementation of novel methodologies for loading and attaching healthy mammalian ventricular myocytes to the force sensor and actuator and use of stochastic system identification techniques to measure their passive dynamic stiffness at various sarcomere lengths.

A Lorentz-force actuated autoloading needle-free injector

The advantages of delivering injections via needle-free methods are numerous. However, conventional methods for needle-free injection lack sufficient control over depth of penetration and shape of injection. Thus, a needle-free injector was designed, constructed, and tested, using a controllable linear Lorentz-force actuator. This actuator allows rapid control of the injection pressure during injections. Using this device, precise control over delivery parameters can be achieved. The injector design was tested for repeatability and evaluated for depth control using acrylamide gel and dye.

A portable needle-free jet injector based on a custom high power-density voice-coil actuator

We have constructed a portable needle-free drug injection (NFI) device based upon a custom voice-coil linear actuator. Our actuator is optimized to provide high instantaneous force (>200 N) and power (4 kW) while still allowing a total stroke of 25 mm. The actuator is relatively inexpensive, compact, and lightweight, allowing it to serve as the force generator in a portable, reusable, handheld NFI system. The actuator is capable of accelerating liquid drug in quantities of up to 250 microL to a speed of more than 200 ms(-1). The repeatability of a 50 microL volume ejection is better than +/-1 microL.

Effects of BDM, [Ca2+]o, and temperature on the dynamic stiffness of quiescent cardiac trabeculae from rat

Studies of the passive mechanical properties of cardiac tissue have traditionally been conducted at subphysiological temperatures and various concentrations of extracellular Ca2+ ([Ca2+]o). More recently, the negative inotropic agent 2,3-butanedione monoxime (BDM) has been used. However, there remains a lack of data regarding the influence of temperature, Ca2+, and BDM on the passive mechanical properties of cardiac tissue. We have used the dynamic stiffness technique, a sensitive measurement of cross-bridge activity, in which minute (∼0.2% of muscle length) sinusoidal perturbations are applied at various frequencies (0.2–100 Hz) to quiescent, viable right ventricular rat trabeculae at two temperatures (20°C and 26°C) and at two [Ca2+]o (0.5 and 1.25 mM) in the presence and absence of BDM (20 mM). The stiffness spectra (amplitude and phase) were sensitive to temperature and [Ca2+]o in the absence of BDM but insensitive in the presence of BDM. From the index of cross-bridge cycling (the ratio of high- to low-frequency stiffness amplitude), we infer that BDM inhibits a small degree of spontaneous sarcomere activity, thereby allowing the true passive properties of trabeculae to be determined. In the absence of BDM, the extent of spontaneous sarcomere activity decreases with increasing temperature. We caution that the measured mechanical properties of passive cardiac tissue are critically dependent on the experimental conditions under which they are measured. Experiments must be performed at sufficiently high temperatures (>25°C) to ensure a low resting concentration of intracellular Ca2+ or in the presence of an inhibitor of cross-bridge cycling.

Strain softening behaviour in nonviable rat right-ventricular trabeculae, in the presence and the absence of butanedione monoxime

Strain softening is commonly reported during mechanical testing of passive whole hearts. It is typically manifested as a stiffer force-extension relationship in the first deformation cycle relative to subsequent cycles and is distinguished from viscoelasticity by a lack of recovery of stiffness, even after several hours of rest. The cause of this behaviour is presently unknown. In order to investigate its origins, we have subjected trabeculae to physiologically realistic extensions (5-15% of muscle length at 26 degrees C and 0.5 mm Ca(2+)), while measuring passive force and dynamic stiffness. While we did not observe strain softening in viable trabeculae, we found that it was readily apparent in nonviable (electrically inexcitable) trabeculae undergoing the same extensions. This result was obtained in both the presence and absence of 2,3-butanedione monoxime (BDM). Furthermore, BDM had no effect on the passive compliance of viable specimens, while its presence partly inhibited, but could not prevent, stiffening of nonviable specimens. Loss of viability was accompanied by a uniform increase of dynamic stiffness over all frequencies examined (0.2-100 Hz). The presence of strain softening during length extensions of nonviable tissue resulted in a comparable uniform decrease of dynamic stiffness. It is therefore concluded that strain softening is neither intrinsic to viable rat right ventricular trabeculae nor influenced by BDM but, rather, reflects irreversible damage of tissue in partial, or full, rigor.

Strain softening is not present during axial extensions of rat intact right ventricular trabeculae in the presence or absence of 2,3-butanedione monoxime

Recent studies of passive myocardial mechanics have shown that strain softening behavior is present during both inflation of isolated whole rat hearts and shearing of tissue blocks taken from the left ventricular free wall in pigs. Strain softening is typically manifested by a stiffer forceextension relation in the first deformation cycle relative to subsequent cycles and is distinguished from viscoelasticity by a lack of recovery of stiffness, even after several hours of rest. The causes of this behaviour are unknown. We investigated whether strain softening is observed in uniaxial extensions of intact, viable, rat right ventricular (RV) cardiac trabeculae. Stretch and release cycles of 5%, 10%, and 15% muscle length were applied at a constant velocity at 26°C. Muscles were tested in random order in the presence and absence of 50 mM 2,3-butanedione monoxime (BDM). Whereas strain softening was displayed by nonviable trabeculae, it was not observed in viable preparations undergoing physiologically relevant extensions whether in the presence or absence of BDM. BDM also had no effect on passive compliance. There was a reversible increase of muscle compliance between the first and subsequent cycles, with recovery after 30 s of rest, independent of the presence of BDM. We conclude that strain softening is neither intrinsic to viable rat RV trabeculae nor influenced by BDM and that passive trabeculae compliance is not altered by the addition of BDM.