Mathematical Models of the Human Cardiovascular System

Mathematical Models and Simulation of the
Human Cardiovascular System
Alexandra Bugalho de Moura
CEMAT, Instituto Superior Técnico, Technical University of Lisbon, Portugal

and
Instituto Superior Politécnico de Tecnologias e Ciências, Luanda, Angola
ESSIM, Dresden, August 2012
Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 1 / 110

Outline
Outline
Introduction
Blood flow in arteries
Local blood flow dynamics
Mathematical modeling of blood flow
Mathematical modeling of arterial wall dynamics
Mathematical modeling of blood-wall interaction
FSI numerical results
Global flow dynamics: boundary conditions on local models
Geometrical multiscale approach
The model reduction procedure
Blood pulse wave in large arteries: 1D models
Coupling the 3D FSI and 1D models
Blood pressure in compartments: 0D models
Coupling 3D and 0D models
Vizualization: Hemodynamic indicators
References
Introduction
The cardiovascular system

I TASK: Suplying the organs with blood
I Mainly composed by: heart, arteries and veins

Introduction
The cardiovascular system
I TASK: Suplying the organs with blood

I Mainly composed by: heart, arteries and veins
I large (systemic) circulation: carries oxygenated blood to the various organs

I small (pulmonary) circulation: between the heart and lungs

Introduction
Complexity
I Mechanical
I Fluid (blood)
I Solid (heart and vessel walls)
I Biochemical (arterial and venous concentrations, transport and exchanges
with surrounding tissue)
I Regulation (chemoreflexes and baroreflexes - nervous system)
I Electrical (heart functioning)
I Diversity of function and geometry (from large arteries to capilaries)

Introduction
Computational simulations
I Mathematical models in life sciences
I Efficient and accurate numerical
algorithms
I Increase of computer power

Introduction
better understanding of
I Efficient and accurate numerical =⇒ the circulatory system
algorithms
funcionality

Introduction
better understanding of
I Efficient and accurate numerical =⇒ the circulatory system
algorithms
funcionality
I provides quantitative data such as

I wall shear stress: influences the orientation and deformation of endothelial cells

Introduction
Cardiovascular diseases
I social-economic impact
I demand from medical doctors for scientifically rigorous and quantitative
investigations
I computational simulations are non-invasive and low cost

Introduction
Cardiovascular diseases: atherosclerosis

I inflamation and rigidity of arterial wall =⇒ stenosis: narrowing of the
I fat accumulation in the arterial wall vessel section

Introduction
Cardiovascular diseases: atherosclerosis

I angioplasty: widening narrowed arteries
I drug eluting stent

Introduction
Cardiovascular diseases: cerebral aneurysms

I saccular dilations of the artery wall
I usually occur near or in the Circle of Willis
I risk of rupture yielding dangerous
hemorhage
“It is estimated that 5% of the population has some type of aneurysm in the
brain. The incidence of ruptured aneurysm is approximately 10 out of 100,000
people per year. About 10% of patients who have one aneurysm will have at least
one more” National Library of Medicine, NIH US, http://www.nlm.nih.gov

Introduction
Computational hemodynamics Computational Fluid Mechanics - CFD
I Correlation between local hemodynamics and cardiovascular pathologies
I better understanding the on-rise and the development of (individual)

physiopathologies
I design of medical devices
I predict the outcome of surgical procedures
PREDICTIVE MEDICINE ⇒ HELP CLINICAL DECISION

Introduction
Patient-specific data
Maximum intensity projections

Rotational CTA
I voxel resolution of 0.8 mm size
I 5123 grid

Introduction
Medical image reconstruction
I image segmentation: e.g. constant threshold

I surface extraction: e.g. marching tetrahedra, radial basis functions (implicit
definition)
I surface smoothing: e.g. bi-Laplacian
Introduction
Sensitivity to medical image reconstruction (segmentation)
(A. Gambaruto)

Introduction
Sensitivity to medical image reconstruction (smoothing)

300 it. bi-Laplacian 20 000 it. bi-Laplacian

Introduction
Mathematical models
Mesh generation
Problem setting
Geometry Numerical simulations

reconstruction
Image and medical

data acquisition
FEEDBACK Post-processing visualization
Patient’s real data
Clinical
interpretation


Simulations restricted to specific regions of interest
I Complex geometry ⇒ Are local simulations reliable?


Global circulation influences local hemodynamics
I Closed system ⇒ How to prescribe boundary conditions?


Non-Newtonian behaviour: blood is not water
I Supension of cells ⇒ What mathematical models should be used?


Unsteady problem
I Pulsatile flow ⇒ Can we have real-time simulations?


Non steady problem
Wave propagation nature of blood flow in arteries
I Wall compliance ⇒ How can we model fluid-structure interaction (FSI)?


Non steady problem
Very complex vessel wall
I Wall of layers ⇒ What mathematical model should be used?


Non steady problem
Very complex vessel wall
I Wall of layers ⇒ What mathematical model should be used?

Describing the dynamics
What are the quantities that we use to descrive the flowing of a fluid?
(Eulerian coordinates)
A vecolity and pressure
B only velocity
C only pressure
D other

Describing the dynamics
What are the quantities that we use to descrive the flowing of a fluid?
(Eulerian coordinates)
A vecolity and pressure
B only velocity
C only pressure
D other
What are the quantities that we use to descrive the motion of a structure?
(Lagrangian coordinates)
A displacement
B velocity
C displacement and velocity
D other

Local blood flow dynamics Mathematical modeling of blood flow
The Navier-Stokes equations
∂u

 ρ
 + ρ (u · ∇) u− div σ(P, u) = 0
∂t


div u = 0
u → velocidade
P → pressão
σ(P, u) → Cauchy stress tensor

∂u

 ρ
 + ρ (u · ∇) u− div (−PI + τ (u)) = 0
∂t


div u = 0
u → velocidade
P → pressão
Constitutive equations:
σ(P, u) = −PI + τ (u) τ (u) → extra stress tensor

∂u

 ρ
 + ρ (u · ∇) u + ∇P− div τ (u) = 0
∂t


div u = 0
u → velocidade
P → pressão

∂u

 ρ
 + ρ (u · ∇) u + ∇P−2µ div Du = 0
∂t


div u = 0
u → velocidade
P → pressão
Newtonian fluid:
1
τ (u) = 2µ ∇u + ∇T u = 2µDu

Du → strain rate tensor
2

The shear-thinning behaviour of blood
I The main mechanical properties of

blood are induced by the RBC.
I The aparent viscosity of blood

decreases with increasing shear rate

Generalized Newtonian fluids

r
1
γ̇ = (∇u + ∇uT ) : (∇u + ∇uT )
2
τ = µ(γ̇)(∇u + ∇uT ) γ̇ → shear rate
µ(γ̇) = µ∞ + (µ0 − µ∞ )F (γ̇)
Carreau viscosity model:

0.7
F (γ̇) = (1 + (λγ̇)2 )(n−1)/2
0.6
Experimental data
0.5 Carreau
Cross
I Non-linear least squares fitting of
Viscosity (Poise)
0.4 Oldroyd
experimental data
0.3
(Prof. Kameneva, U. Pittsburgh)
0.2
0.1
I µ0 = 0.456 Poi
0
−3 −2 −1 0 1 2 3
I µ∞ = 0.032 Poi
10 10 10 10 10 10 10
Shear rate (s−1) I λ = 10.03 s
I n = 0.344

Generalized Newtonian fluids 0.7
0.6
Experimental data
T
τ = µ(γ̇)(∇u + ∇u ) 0.5 Carreau
Cross
Viscosity (Poise)
0.4 Oldroyd
µ(γ̇) = µ∞ + (µ0 − µ∞ )F (γ̇) 0.3
0.2
0.1
0
−3 −2 −1 0 1 2 3
10 10 10 10 10 10 10
Shear rate (s−1)
Model Viscosity Model Model constants for blood

Power law k γ̇ n−1 k = 0.145, n = 0.628
µ0 = 0.456, µ∞ = 0.032
Carreau F (γ̇) = (1 + (λγ̇)2 )(n−1)/2
λ = 10.03s, n = 0.344
µ0 = 0.618, µ∞ = 0.034
Cross F (γ̇) = (1 + (λγ̇)m )−1
λ = 7.683s, m = 0.810
1 + log(1 + λγ̇) µ0 = 1.10, µ∞ = 0.035

Yeleswarapu F (γ̇) =
1 + λγ̇ λ = 45.23s
1 + (λ1 γ̇)2 µ0 = 0.426, µ∞ = µ0 λ21 λ−2

2
Oldroyd µ(γ̇) = µ0
1 + (λ2 γ̇)2 λ1 = 1.09s, λ2 = 3.349s

The fluid equations
∂u


 ρ + ρ (u · ∇) u + ∇P−2 div(µ(γ̇)Du) = 0 in Ω


 ∂t


 div u = 0 in Ω




u = h on Γ1


 σ · n = −pn + τ · n = q on Γ2 , Γ3 , Γ4



 u = 0 on Γw




u(0, ·)

= u0 in Ω

The Reynolds number
I non-dimensional Navier-Stokes equations
∂u 1
(
+ (u · ∇) u + ∇P − (2µ div Du) = 0 in Ω
∂t Re
div u = 0 in Ω
ρ|u|D
Re =
µ
I low Reynolds number ⇒ high viscosity (Stokes equations)

I high Reynolds number ⇒ turbulence
I Blood ⇒ Re ≈ 200 (laminar flow)
I Poiseuille flow (constant pressure gradient in pipes)

Time discretization: Euler’s method
I I =]0, T ]. N points: 0 = t0 < t1 < . . . < tN−1 < tN = T , ∆t = ti+1 − ti .


I Euler’s method:
f (tn + ∆t) − f (tn )

f 0 (tn ) = lim
∆t→0 ∆t


I Euler’s method:
f (tn+1 ) − f (tn )
f 0 (tn ) = lim
∆t→0 ∆t


I Euler’s method (explicit):
f (tn+1 ) − f (tn )
f 0 (tn ) ≈
∆t


I Euler’s method (implicit):
f (tn+1 ) − f (tn )
f 0 (tn+1 ) ≈
∆t


f (tn+1 ) − f (tn )
f 0 (tn+1 ) ≈
∆t
I Aplying to the Navier-Stokes equations


f (tn+1 ) − f (tn )
f 0 (tn+1 ) ≈
∆t

∂un+1 un+1 − un
≈
∂t ∆t


f (tn+1 ) − f (tn )
f 0 (tn+1 ) ≈
∆t

∂un+1 un+1 − un
≈
∂t ∆t
∂u

 ρ
 + ρ (u · ∇) u + ∇P − µ∆u = 0
∂t


div u = 0


f (tn+1 ) − f (tn )
f 0 (tn+1 ) ≈
∆t

∂un+1 un+1 − un
≈
∂t ∆t
∂un+1

 ρ
 + ρ (un+1 · ∇) un+1 + ∇Pn+1 − µ∆un+1 = 0
∂t


div un+1 = 0


f (tn+1 ) − f (tn )
f 0 (tn+1 ) ≈
∆t

∂un+1 un+1 − un
≈
∂t ∆t
un+1 − un

 ρ
 + ρ (un+1 · ∇) un+1 + ∇Pn+1 − µ∆un+1 = 0
∆t

div un+1 = 0



f (tn+1 ) − f (tn )
f 0 (tn+1 ) ≈
∆t

∂un+1 un+1 − un
≈
∂t ∆t
 ρ ρ
 un+1 + ρ (un+1 · ∇) un+1 + ∇Pn+1 − µ∆un+1 = un
∆t ∆t


div un+1 = 0


Other time discretizations...
Backward difference formula (BDF) order 3:
∂un+1 11un+1 3un 3un−1 1un−2

≈ − + −
∂t 6∆t ∆t 2∆t 3∆t

11ρ 3un 3un−1 1un−2
un+1 + ρ (un+1 · ∇) un+1 + ∇Pn+1 − µ∆un+1 = ρ − +


6∆t ∆t 2∆t 3∆t



div un+1 = 0


Time discretization: non-linearities
Convective term:

 (un+1 · ∇) un+1 implicit
(un+1 · ∇) un+1 ≈ (un · ∇) un explicit
(un · ∇) un+1 semi-implicit

Extra-stress tensor (semi-implicit treatment):
τ k+1 = µ(γ̇ k+1 )(∇uk+1 + (∇uk+1 )T ) ≈ µ(γ̇ k )(∇uk+1 + (∇uk+1 )T ).

Spacial discretization: Finite Element Method (FEM)

(a glance)
−∆u = f, em Ω
n
∂2u ∂2u
∆u = + 2 Ω
∂x 2 ∂y
y
x Γ


(a glance)
−∆u = f, em Ω n
Ω
y
x Γ
Multiplying the equation by an arbitrary function v (test function)
−∆u v = f v


(a glance)
Ω
y
x Γ
Multiplying the equation by an arbitrary function v (test function) and integrating in Ω
Z Z
− ∆u vdΩ = f vdΩ
Ω Ω


(a glance)
Ω
y
x Γ
Multiplying the equation by an arbitrary function v (test function) and integrating in Ω
Z Z
− ∆u vdΩ = f vdΩ
Ω Ω
Integrating by parts
Z Z Z
− ∆u vdΩ = ∇u : ∇vdΩ − (∇u · n) vdΓ
Ω Ω Γ


(a glance)

u = 0, em Γ
Ω
y
x Γ


(a glance)
 Find u ∈ V such that

 −∆u = f, em Ω
⇐⇒ Z Z
u = 0, em Γ ∇u · ∇vdΩ = f vdΩ, ∀v ∈ V .

Ω Ω


(a glance)
 Find u ∈ V such that

 −∆u = f, em Ω
⇐⇒ Z Z
u = 0, em Γ ∇u · ∇vdΩ = f vdΩ, ∀v ∈ V .

Ω Ω
Consider Vh ⊂ V , such that dim Vh < ∞ (Galerkin approximation)

Z Z
Find uh ∈ Vh such that ∇uh · ∇vh dΩ = f vh dΩ, ∀vh ∈ Vh .
Ω Ω


(a glance)
dim V
dim Vh < ∞ ⇒ it is enough to consider the elements of the base Vh , {φi }i=1 h :
Find uh ∈ Vh such that
Z Z
∇uh · ∇φi dΩ = f φi dΩ, i = 1, . . . , dim Vh .
Ω Ω


(a glance)
If uh ∈ Vh , it can be written as linear combination of the elements of the base:
dim Vh
X
To find uh = uj φj such that
j=1
dim Vh
Z ! Z
X
∇ uj φj · ∇φi dΩ = f φi dΩ, i = 1, . . . , dim Vh .
Ω j=1 Ω


(a glance)
dim Vh
X
j=1
dim Vh
Z ! Z
X
Ω j=1 Ω
dim Vh Z Z
X
uj ∇φj · ∇φi dΩ = f φi dΩ, i = 1, . . . , dim Vh .
j=1 Ω Ω
| {z } | {z }
Aij bi
dim Vh
X
uj Aij = bi , i = 1, . . . , dim Vh
j=1


(a glance)
dim Vh
X
j=1
dim Vh
Z ! Z
X
Ω j=1 Ω
dim Vh Z Z
X
uj ∇φj · ∇φi dΩ = f φi dΩ, i = 1, . . . , dim Vh .
j=1 Ω Ω
| {z } | {z }
Aij bi
dim Vh
X
uj Aij = bi , i = 1, . . . , dim Vh
j=1
To find U such that it is the solution of the linear system
AU = B, A = {Aij } , U = {uj } e B = {bi }

Spacial discretization: Finite Element Space (FEM)

(a glance)
Appropriate choice of the finite dimensional space!


(a glance)
n I triangulation
Ω I parameter h linked to the size of the mesh

I convergence: lim ku − uh k = 0
h→0


(a glance)
n I triangulation

h→0


(a glance)
n I triangulation

h→0
Γ
n
I Each function vh ∈ Vh is characterized by its value on the

nodes of the mesh Ni

0, i=6 j
φj : such that φj (Ni ) =
1, i =j
, j = 1, . . . , dim Vh . Ω
dim Vh = number of internal nodes of the mesh. Γ
Spacial discretization: functional setting
Z
p
Lp (Ω) = f : Ω −→ R : |f (x)| dω < ∞ , 1 6 p < ∞,
Ω
and
L∞ = {f : Ω −→ R : ∃C > 0 s.t. |f (x)| 6 C a.e. in Ω}
Banach space:
Z 1/p
p
kf kLp (Ω) := kf kΩ,p = |f (x)| dω
Ω
kf kL∞ (Ω) := kf kΩ,∞ = inf {M : |f (x)| 6 M a.e. in Ω}

Spacial discretization: functional setting

Z
L2 (Ω) is an Hilbert space with inner product: (f , g )L2 (Ω) = f (x)g (x) dω
Ω
Z
L20 := q ∈ L2 (Ω) : q(x) dω = 0 → isomorfic to L2 (Ω)/R
Ω
I Sobolev spaces
W k,p = {f ∈ Lp (Ω) : D α f ∈ Lp (Ω), |α| 6 k} ,

 1/p
X
kf kW k,p (Ω) =  kD α f kpLp (Ω)  , 1 6 p < ∞,
|α|6k
kf kW k,∞ (Ω) = max kD α f kL∞ (Ω) .

|α|6k
I Hilbert space: W k,2 (Ω) := H k (Ω)

I Hγ1 (Ω) ⊂ H 1 (Ω): functions with zero trace on γ ⊂ ∂Ω

Spacial discretization: variational formulation of the

Navier-Stokes eqations
I momentum equation
∂u


 + u · ∇u + ∇p − ν∆u = 0
 ∂t



 u = 0, on γ
−pn + ∇u · n = h, on ∂Ω \ γ

P µ
p= ν=
ρ ρ


I momentum equation
v ∈ Hγ1 (Ω)
Z
∂u
+ u · ∇u + ∇p − ν∆u ·v = 0
Ω ∂t


I momentum equation
v ∈ Hγ1 (Ω)
Z
∂u
+ u · ∇u + ∇p − ν∆u ·v = 0
Ω ∂t
Z Z Z
∇·v = pv · n − pdivv,
Ω ∂Ω Ω
Z Z Z
ν ∆u · v = ν (∇u · n) · v − ν ∇u : ∇v.
Ω ∂Ω Ω


I momentum equation
v ∈ Hγ1 (Ω)
Z
∂u
+ u · ∇u + ∇p − ν∆u ·v = 0
Ω ∂t
Z Z Z Z Z
∂u
·v+ ((u · ∇) · u) · v − pdivv + ν ∇u : ∇v = (ν∇u · n − pn) · v
Ω ∂t Ω Ω Ω ∂Ω


I momentum equation
v ∈ Hγ1 (Ω)
Z
∂u
+ u · ∇u + ∇p − ν∆u ·v = 0
Ω ∂t
Z Z Z Z Z
∂u
·v+ ((u · ∇) · u) · v − pdivv + ν ∇u : ∇v = v·h
Ω ∂t Ω Ω Ω ΓN


I momentum equation
v ∈ Hγ1 (Ω)
Z
∂u
+ u · ∇u + ∇p − ν∆u ·v = 0
Ω ∂t
Z Z Z Z Z
∂u
·v+ ((u · ∇) · u) · v − pdivv + ν ∇u : ∇v = v·h
Ω ∂t Ω Ω Ω ΓN
I continuity equation
q ∈ L20 (Ω)
Z
div u = 0 ⇒ divu q = 0
Ω


Find, ∀t > 0, u ∈ Hγ1 (Ω) and p ∈ L20 (Ω) s.t.
 Z
∂u
, v + a(u, v) + c(u, u, v) + b(v, p) = v · h, ∀v ∈ Hγ1 (Ω),


∂t

Γ n

∀q ∈ L20 (Ω),

b(u, q) = 0,

with
Z Z Z
a(u, v) = ν ∇u : ∇v, c(w, u, v) = (w·∇)u · v, b(v, p) = − p divv
Ω Ω Ω
I the bilibear (a, c) and trilinear (b) forms are linear

I a is eliptic: ∃C > 0 s.t. |a(u, u)| > C kuk2H 1 (Ω)
γ
b(v, q)
I inf-sup condition: ∃β > 0 s.t. inf sup >β
q∈L20 (Ω) v∈H 1 (Ω)N
0
|v|H 1 (Ω)N kqkL2 (Ω)

Local blood flow dynamics Mathematical modeling of arterial wall dynamics
Structure equations: 3D elasticity

Elastic material (St Venant-Kirchhoff material) in large displacements
Lagrangian formulation
0
η
0 P(η) = (I + ∇0 η)S(η)
Γs,in Ωs0 Γs,a
z
S(η) = λ tr(E)I + 2µE
0
Γs,w
1
0
Γs,ext E = ∇0 η + ∇T0 η + ∇T0 η∇0 η
2
Eξ E
Lamé constants: λ = , µ=
(1 + ξ)(1 − 2ξ) 2(1 + ξ)
E → Young modulus (elasticity)
ξ → Poisson ratio (ξ = 0.5 → incompressible material)
∂2η
ρw − div0 (P) = 0 on Ω0s
∂t 2

The 3D FSI model: structure equations

Elastic material in large displacement, Lagrangian formulation
0
η
0 P(η) = (I + ∇0 η)S(η)
Γs,in Ωs0 Γs,a
z
0
Γs,w
1
0
Γs,ext E = ∇0 η + ∇T0 η + ∇T0 η∇0 η
2
∂2η


 ρ w − div0 (P) = 0 on Ω0s



 ∂t 2


P · n0 Γ0s,ext



 = 0 on
 (P · n ) · τ = 0, η · n Γ0s,out

0 a a = 0 on
 η = 0 on Γ0s,in
Γ0w




 interface conds. on



in Ω0s



 η(0, ·) = η0
in Ω0s

∂t η(0, ·) = η̇ 0

Other structural models
simple models: S(ηr ) = Φ

br
pressure-area algebraic relation −→ S(ηr ) :=

Eh
R02 (1 − ξ 2 )
ηr = bηr
∂ 2 ηr
independent rings model −→ S(ηr ) := ρw h
∂t 2
+ bηr
∂ 2 ηr ∂ 2 ηr
generalized strings model −→ S(ηr ) := ρw h
∂t 2
− KGh 2 + bηr
∂z

Time discretization: Newmark method
 n+1
 η̇ = η̇ n + δt (1 − γ) η̈ n + δt γ η̈ n+1 ,

δt 2
 η n+1 = η n + δt η̇ n + (1 − 2β) η̈ n + δt 2 β η̈ n+1 ,

2
1 1
I mid point scheme (second order accurate): γ = ,β =
2 4

Spacial discretization: FEM
I Find η(t) ∈ H 1 (Ω0s ), such that η(0) = η 0 , and

∂2η
Z Z Z
ρw 2
ξ dω + P(η) : ∇ξ dω = Φξ
b dγ, ∀ξ ∈ HΓ1in (Ω0s )
Ω0s ∂t Ω0s Γ0w

Spacial discretization: FEM
I Find η(t) ∈ H 1 (Ω0s ), such that η(0) = η 0 , and

∂2η
Z Z Z
ρw 2
ξ dω + P(η) : ∇ξ dω = Φξ
b dγ, ∀ξ ∈ HΓ1in (Ω0s )
Ω0s ∂t Ω0s Γ0w
Vh (Ω0s,h ) ⊂ H 1 (Ω0s ) Ω0s,h = Thel,0 , Thel,0 a partition of Ω0s
I Find, ∀t ∈ I , η h (t) ∈ Vh (Ω0s ), such that η h (0) = η 0,h , and,

∀ξ h ∈ Vh (Ω0s ) ∩ HΓ1t (Ω0s ),
in
∂ 2 ηh
Z Z Z
ρw ξ dω + P(η h ) : ∇ξ h dω = Φ
b h ξ dγ,
Ω0s ∂t 2 h Ω0s Γ0w
h
η 0,h and Φ
b h suitable approximations of the initial and forcing terms.

Local blood flow dynamics Mathematical modeling of blood-wall interaction
A glance to the fluid-structure interaction (FSI) model

I boundary conditions at the physical interface - the wall
I pressure wave
FLUID STRUCTURE
INTERACTION
⇐⇒
displacement (new domain)
Interface conditions
normal stresses
implicit coupling
(iterative procedure)

ALE (arbitrary Lagrangian-Eulerian) coordinates

I We would like to have Lagrangian coordinates on the structural wall, and
Eulerian coordinates in the remaining domain
At : Ω0 → Ωt , At (x̂) = x(t, x̂), x̂ ∈ Ω0 ,

retrieving the desired computational domain as Ωt = At (Ω0 )
I Harmonic extension
4At in Ωt ,

 = 0,
At on ∂Γtw ,

= η,
 At · n = 0, ∂At
·τ on Γtin ∪ Γtout ,

= 0,
∂n

The FSI model: the fluid equations
generalized Newtonian Fluid, ALE formulation
∆At in Ω0

η Ωt  = 0,
t
t Γa
Γin z
interface conds. on Γ0w

Ω0 Γw0
∂At
Γwt w= , Ωt = At (Ω0 )
∂t

∂u

 ρ + ρ (u−w · ∇)u + ∇P − 2 div(µ(γ̇)D(u)) = 0 in Ωt
∂t x̂



div u = 0 in Ωt




interface cond. on Γtw

∀t ∈ (0, T ], with initial cond. u = u0

The FSI model: strutural equations

Elastic material in large displacements, Lagrangian coordinates
0
η
0
P(η) = (I + ∇0 η)S(η)
Γs,in Ωs0 Γs,a
z
0
Γs,w
1
∇0 η + ∇T T

0 η + ∇0 η∇0 η
0
Γs,ext E =
2
∂2η


 ρw − div0 (P) = 0 on Ω0s
∂t 2

interface cond. on Γ0w

∀t ∈ (0, T ], with proper initial conditions η and ∂t η

The FSI model: fluid-structure interface conditions

η
Γw0
n0
Γwt
We set At = η on Γ0w , and

I continuity of the velocity
∂η
u ◦ At = , on Γtw
∂t
I equilibrium of the normal stresses

− (det ∇0 η) σ(u, p) ∇0 −T η · n0 = σ s (η) · ns , on Γ0w
with σ(u, p) = −pI + 2µ(γ̇)D(u).

The FSI model: mathematical analysis
Is the FSI problem well posed?

I Does the solution exists?
I Is it unique?
I Does it depend continuously on the data?
Open problem!!
[D. Coutand, Y. Maday, C. Grandmont, B. Desjardens, M. Esteban, H. Beirão da Veiga, ...]

The 3D FSI model: energy estimate

[Formaggia, Moura, Nobile, M2AN,2007]
ρ ρw λ
E3D = ||u||2L2 (Ωt ) + ||∂t η||2L2 (Ω0s ) + µ||E||2L2 (Ω0s ) + || tr(E)||2L2 (Ω0s )
2 2 2
E3D (t) + 2ν||D(u)||2L2 (Ωt ) 6 E3D (0)
I non-homogeneous natural conditions at inflow (r) and outflow (q)
t t t
Z Z Z 2ν t
2 2 2
E3D−AL (t) + ν kD(u)kL2 (Ωt ) dt 6 E3D−AL (0) + C
e krkL2 (Γt ) dt + C kqkL2 (Γt ) dt e ρ
0 0 in 0 a

The 3D model: other structural models
simple models: S(ηr ) = Φ

br
pressure-area algebraic relation −→ S(ηr ) :=

Eh
R02 (1 − ξ 2 )
ηr = bηr
ρ
E3D−AL (t) := 2
kuk2L2 (Ωt ) + b2 kηr k2L2 (Γ0 )
w
∂ 2 ηr
independent rings model −→ S(ηr ) := ρ̃w
∂t 2
+ bηr
∂ηr 2

ρ ρ̃w
E3D−IR (t) := 2
kuk2L2 (Ωt ) + 2 ∂t 2 + b2 kηr k2L2 (Γ0 )
L (Γ0w ) w
∂ 2 ηr ∂ 2 ηr
generalized strings model −→ S(ηr ) := ρ̃w
∂t 2
− a
∂z 2
+ bηr
∂ηr 2 ∂ηr 2

ρ ρ̃w
E3D−GS (t) := 2
kuk2L2 (Ωt ) + 2 ∂t 2 + a
2 ∂z 2 + b2 kηr k2L2 (Γ0 )
L (Γ0w ) L (Γ0w ) w

The FSI model: energy estimate

For bounded viscosity laws of the general form
µ(γ̇) = µ∞ + (µ0 − µ∞ )F (γ̇),

where F (·) is a continuous monotonic function such that limγ̇→0 F (γ̇) = 1 and limγ̇→+∞ F (γ̇) = 0,
the 3D FSI coupled problem with homogeneous Dirichlet boundary conditions u = 0 on Γtin and Γtout , satisfies
the energy inequality
d
(E (t)) + 2µ∞ kD(u)k2L2 (Ωt ) 6 0
dt
from which we obtain the energy decay property:
Z t
E (t) + 2µ∞ kD(u)k2L2 (Ωt ) dt 6 E (0)
0
where E (0) is a constant depending only on the initial data u0 , η 0 and η̇ 0 .
I dissipation only comes from the fluid viscous effects

I the power exchanged by the fluid and the structure balance at the interface

The FSI model: numerical approximation
Time discretization
Fluid: Implicit Euler’s method or BDF
Structure: Newmark method (mid point)

Time discretization
Spacial discretization
FEM (variational formulation)
I Non-conforming fluid and solid discrete spaces
I Dirichlet-Neumann coupling (classic)

Time discretization
Spacial discretization
FEM (variational formulation)
I Non-conforming fluid and solid discrete spaces
I Dirichlet-Neumann coupling (classic)
The FSI problem is highly non-linear

I appropriate (time) discretization of the coupling conditions
I implicit coupling

The FSI model: the added-mass effect

I numerical instabilities under certain combinations of physiological parameters:
I for a given geometry, as soon as the density of the structure is lower then a
certain threshold
I for a given structure density, as soon as the length of the domain is greater
then a certain threshold
I Added-mass: inertia added to a system because an accelerating or

decelerating body must move some volume of surrounding fluid as it moves
through (incompressibility constraint)
I Instabilities are found when:
ρw h
<1
ρλadd
L
λadd = πR
: increases with the length of the domain (slender domains)
πth L

The FSI model: Blood
I incompressible
I arteries are slender
I blood density: ρ ≈ 1, 03 g /cm3
I wall density: ρw ≈ 1, 2 g /cm3

The FSI model: coupling algorithms

I FSI coupling scheme defined through the time discretization of the interface
conditions
I Explicit (loosely or weakly) coupled methods:
ηfn+1 = ηsn
un+1
f = uns
σsn+1 ns = −σfn+1 nf
(at the interface wall)
1 update fluid domain configuration (mesh) and velocities

2 advance fluid in time with Dirichlet condition (velocities)
3 advance solid in time with interface Neumann condition (stresses)
4 go to next time-step

The FSI model: coupling algorithms

I Implicit (strongly) coupled methods:
ηfn+1 = ηsn+1
un+1
f = un+1
s
σsn+1 ns = −σfn+1 nf
(at the interface wall)
1 solve the coupled FSI problem

2 go to next time-step
I monolithic: single solver with the purpose of simultaneously solve fluid and
structure
I partitioned: couples independent fluid and structure solvers

The FSI model: relaxed fixed-point algorithm
I FSI coupling can be stated as a fixed point algorithm, in the form
S ◦ F(η) = η
I interface Dirichlet-Neumann formulation
1 Initialize η 0
2 For k > 0 untill convergence (kη k+1 − η k k < tol)
i solve fluid (including domain update): uk = F(η k )
ii solve solid: η̃ k+1 = S(uk )
iii η k+1 = ωk η̃ k+1 + (1 − ωk )η k

The FSI model: Newton’s method
[Fernandez, Moubachir, 2005]
residual: R(η) = η − S ◦ F(η)
1 initial guess η 0
2 Do, until convergence (kη k+1 − η k k < tol),
i. initial evaluation: η 1 = η 0 − S ◦ F (η 0 ) = R(η 0 ) (solve fluid,including domain
update, and solid, and evaluate residual)
ii. for k > 1: Dη (R(η k ))(η k+1 − η k ) = −R(η k )


ii. for k > 1: Dη (R(η k ))(η k+1 − η k ) = −R(η k )
I Dη (R(η k ))(η k+1 − η k ): Frechet derivative of R computed in η k and applied

to the increment η k+1 − η k (tangent problem).
Dη (R(η k ))z = z − Du,p SDη Fz,
I y = Dη Fz: fluid tangent problem

I δz = Du,p Sy: solid tangent problem



ii. Do, until convergence (kδzk < tol),
a. solve fluid tangent problem: y = Dη F z
b. solve solid tangent problem: δz = Du,p Sy
c. compute: Dη (R(η k ))z = z − δz.
I Dη (R(η k ))(η k+1 − η k ): Frechet derivative of R computed in η k and applied

to the increment η k+1 − η k (tangent problem).
Dη (R(η k ))z = z − Du,p SDη Fz,

I y = Dη Fz: fluid tangent problem
I δz = Du,p Sy: solid tangent problem
I quasi-Newton: simplification of the tangent problem
Local blood flow dynamics FSI numerical results
Numerical results (FSI model)

Global flow dynamics: boundary conditions on local models
Boundary conditions

Global flow dynamics: boundary conditions on local models Geometrical multiscale approach
The geometrical multiscale approach

I simulation of large parts of the
arterial tree by using different I allows to study the influence of
models, with different scales and global circulation on the local one
level of accuracy, coupled together

The mathematical complexity

I 3D ⇒ Navier-Stokes equations or
non-Newtonian rheology, possibly
coupled with a structural model for the
vessel wall.

vessel wall.
I 1D ⇒ A net of systems of hyperbolic

equations describing evolution of mean
pressure and flow rate.

vessel wall.
I 1D ⇒ A net of systems of hyperbolic

equations describing evolution of mean
pressure and flow rate.
I 0D ⇒ System of algebro-ordinary
differential equations, often non linear,
describing mean pressure and flow rate
in time.

Global flow dynamics: boundary conditions on local models The model reduction procedure
t
Γs,in η Ωt
Ω0s
t
Γin R0 z
Γwt
Fluid-structure interaction problem in a cylindrical-type

geometry representing an artery

Γa
t
Γs,in
Ωt
t
Γin z
Γwt
Decompose the geometry into two parts

Γa
t
Γs,in
Ωt
t
Γin Ω1D z
Γwt
Devise an appropriate reduced model

Ω1D
Ω 3D ?
Find appropriate coupling conditions and numerical strategies

Global flow dynamics: boundary conditions on local models Blood pulse wave in large arteries: 1D models
The 1D model: derivation
Derived from the 3D FSI model by
a b z


I Making some simplifying assumptions:
I Cylindrical geometry
I Simplified structural models
I Neglect wall inertia
z
a b


I Integrating over the cross section Σ(z)
Σ (z)
a b z


I Integrating over the cross section Σ(z) : averaged quantities
Z
A(z, t) = dγ
Ωt ∩Σ(z)
Z
Q(z, t) = uz (x, t)dγ
Ωt ∩Σ(z)
Z
1
p(z, t) = p(x, t)dγ
|Σ(z)| Ωt ∩Σ(z)
Ω1D z
a b

The 1D model: the equations
z=a z=b z
∂A ∂Q


 + = 0, z ∈ (a, b), t > 0

 ∂t ∂z
∂ Q2

 ∂Q A ∂p Q
−Kr , z ∈ (a, b), t > 0


 + + =
∂t ∂z A ρ ∂z A
endowed with a pressure-area algebraic relation:

∂ψ
p(t, z) − pext = ψ(A(t, z); A0 (z), β(z)), with > 0 and ψ(A0 ; A0 , β).
∂A
√ √ √
A − A0 πh0 E
ψ(A; A0 , β) = β with β =
A0 1 − ν2

The 1D model: main properties

I describe the wave propagation nature of blood flow
I coupled with the 3D-FSI model can act as absorbing boundary condition.
Full hyperbolic system of equations:

A ∂p
I characteristic speeds: λ1,2 = u ± c, with u = Q/A and c 2 =
ρ ∂A
Z A
c(s)
I characteristic variables: W1,2 = u ± ds = W1,2 (A, Q)
A0 s
In heamodynamics c >> u and the flow is subcritical

(c of the order of 1 − 10 m/s, u of the order of 10−3 − 10−2 m/s)
I An absorbing boundary condition on the

outflow (right) extremity of the 1D model
is obtained imposing W2 (A, Q) = 0.

A network of 1D models
I simulation of complex arterial trees by coupling 1D models
I domain decomposition
approach
Stable coupling conditions [L.Formaggia, D. Lamponi, A. Quar-

teroni (2003)]:
n
X
I continuity of the flux: Qi = 0
i=1
I continuity of the total pressure:
ρ 2 ρ 2
p i + |u i | = p j + |u j | , 1 6 i, j 6 n
2 2

The 1D Model: energy estimate
z=a z=b z
W2 (t) = g2 (t) at z = b (non reflecting condition).
Z b Z b Z A
ρ
E1D (t) = Au 2 dz + Ψ(A)dz, ∀t > 0, with Ψ(A) = ψ(τ )dτ.
2 a a A0
For regular and small enough data, there exists a positive bounded function G s.t.
d ρ
E1D (t) 6 G (g2 (t))+Q(a, t) p(a) + u 2 (a)
dt 2
[Formaggia, Gerbeau, Nobile, Quarteroni, CMAME, 2001]

Global flow dynamics: boundary conditions on local models Coupling the 3D FSI and 1D models
Coupling 3D FSI and 1D models

r
η
Γw0
Γin Ω Γa z
z=0 z=a z=b
At the interface between the 1D and the 3D FSI models we impose

I Continuity of the flux Z
u · ndγ = Q(a)
Γa
I Continuity of the normal stresses
Z
1 ρ
(p − 2µD(u)) · ndγ = p(a) + u(a)2
|Γa | Γa 2

Coupling 3D FSI and 1D models (flow rate problem)

Z
I continuity of the flux : u · ndγ = Q1D
Γ3D
Z
1 ρ 2
I continuity of normal stress : (p − 2µD(u)) · ndγ = p 1D + u 1D
|Γ3D | Γ3D 2
flow rate
mean pressure
Treatment of the defective boundary conditions

flow rate problem: Lagrange multiplier approach
[Formaggia, Gerbeau, Nobile, Quarteroni, SIAM J Num Anal, 2002]

Coupling 3D FSI and 1D models (mean pressure problem)

Z
I continuity of the flux : u · ndγ = Q1D
Γ3D
Z
1 ρ 2
I continuity of total stress : (p − 2µD(u)) · ndγ = p 1D + u 1D
|Γ3D | Γ3D 2
mean pressure
flow rate

mean pressure problem: P tot n − 2µD(u) · n = P tot
[Heywood, Rannacher, Turek, Int. J. Num. Meth. Fl., 1996]

The 3D-1D coupling: energy estimate

[Moura, Janela, Sequeira, JCAM, 2010; Formaggia, Moura, Nobile, 2007]
I F (·) continuous monotonic

µ(γ̇) = µ∞ + (µ0 − µ∞ )F (γ̇) I limγ̇→0 F (γ̇) = 1
I limγ̇→+∞ F (γ̇) = 0
I Dirichlet bound. cond. u = 0 on Γtin and homogeneous cond. on the structure

I apropriate formulation of the Navier-Stokes equations
Z
d ρ
(E (t)) + 2µ∞ kD(u)k2L2 (Ωt ) 6 − pn + |u|2 n − 2µ(γ̇)D(u) · n · u dγ
dt Γtout 2
with
ρ ρw λ
E3D = ||u||2L2 (Ωt ) + ||∂t η||2L2 (Ω0s ) + µ||E||2L2 (Ω0s ) + || tr(E)||2L2 (Ω0s ) ,
2 2 2



µ(γ̇) = µ∞ + (µ0 − µ∞ )F (γ̇) I limγ̇→0 F (γ̇) = 1
I limγ̇→+∞ F (γ̇) = 0

Z
d ρ
dt Γtout 2
d
E1D (t) 6 G (g2 (t))+Q(a, t) p(a) + ρ 2

dt 2 u (a)
with
Z b Z b Z A
ρ
E1D (t) = Au 2 dz + Ψ(A)dz, ∀t > 0, with Ψ(A) = ψ(τ )dτ.
2 a a A0



µ(γ̇) = µ∞ + (µ0 − µ∞ )F (γ̇) I limγ̇→0 F (γ̇) = 1
I limγ̇→+∞ F (γ̇) = 0

Z
d ρ
dt Γtout 2
d
E1D (t) 6 G (g2 (t))+Q(a, t) p(a) + ρ 2

dt 2 u (a)
d d
E3D (t) + 2µ∞ ||D(u)||2L2 (Ωt ) + E1D (t) 6 G (g2 (t))
dt dt
Coupling 3D and 1D FSI models (displacement)
Continuity of the sec-

Continuity of the normal stress
Continuity of the flux ; tion area at the inter-
face
Which boundary
Γout
w conditions for the
structure model?

Forcing the continuity of the area
area ( P = P (A) )
mean pressure
flow rate
I At the interface:
η
I assume only radial movements
R0
I use the pressure-area algebraic ^
R − R0
c. η= (x̂ −ĉ)
relation of the 1D model: R0
√ 2
√

A0
A= A0 + p
β

area ( P = P (A) )
mean pressure
flow rate
NOTE: Forcing the continuity of the area

through a Dirichlet boundary condition on ; Energy estimate
the structure model

area ( P = P (A) )
mean pressure
flow rate
However, homogeneous Neumann conditions on the structure at the interface give

rise to a stable coupling

area ( P = P (A) )
mean pressure
flow rate
Numerical evidences: as long as an implicit scheme is applied, the coupling with

the imposition of the area is stable. Explicit schemes show instabilities when area
continuity is enforced.

area ( P = P (A) )
mean pressure
flow rate
A last note: Simple structural models (like the independent rings or algebraic
relations) do not enforce continuity of the area (they do not need boundary
conditions!).

Solving the 3D-1D FSI coupling: explicit coupling
t n+1 3D 1D
)
stress
rma l total
flux (no
normal total stress (flux)

tn 3D 1D
s)
l tota l stres
orma
t n−1 flux (n
3D 1D
n−1 (m)
I given φ3D , while tn−1 < tn , solve the 1D model
I given φn1D solve the 3D problem

Solving the 3D-1D FSI coupling: implicit coupling

ess)
t n+1 to tal str
3D o rmal 1D
flux (n
normal total stress (flux)
tn 3D 1D
relaxed fux (relaxed normal total stress)
t n−1 )
stress
3D l total 1D
orma
flux (n
I Set φ(0) = φn−1 and φ(0) = φn−1 , and for k = 1, . . .:

3D 3D 1D 1D
. set φ1D
(k−1)
= ωφ3D
(k−1)
+ (1 − ω)φ1D
(k−1)
. given φ3D
(k−1)
solve 1D →φ(k)
1D
. (k)
given φ1D solve 3D FSI →φ(k)
3D
. verify convergence: kφ3D − φ1D k 6 tol

(k) (k)

Absorbing boundary conditions

Not coupled Coupled
WTHOUT continuity of the area

EXPLICIT coupling
Comparing the area with a reference solution (explicit coupling)
algebraic model
independent rings model
linear elasticity model

Comparing the area with a reference solution (implicit coupling)
algebraic model
independent rings model
linear elasticity model

explicit coupling implicit coupling

Area mismatch at the coupling interface

Numerical results: generalized Newtonian fluids

Carreau fluid
not
coupled Carreau fluid Newtonian fluid
explicit
coup.
(without
cont. area)
implicit
coup. (with
cont. area)

A real geometry: 3D-1D coupling

One dimensional models enable proper transmission of pulse waves avoiding
spurious reflections.
Stand alone 3D FSI (clamped ends) Coupled with a 1D tube at each outflow
I Pressure impulse of 10mmHg at inflow

Absorbing boundary conditions
Remember: at the 1D outflow boundary we

impose the absorbing condition:
W2 (Q, p̄) = 0 ⇔
s 2
8β A0 p
p̄ + A0 ·
ρA0 β
s !
A0 p 1/4
p̄ + A0 − A0 =Q
β
Displacement and Pressure
for the 3D-1D coupling and
for the standard traction-free
conditions.

Simplified absorbing boundary conditions
3D - 1D Coupling:
[+] Allows to integrate 3D (FSI) models into lower order (1D) models that can
represent large parts of the vascular system.
[+] Effectively acts as physiological absorbing boundary condition, partially
filtrating spurious pressure wave reflections.
[–] If the 1D hyperbolic problem is solved explicitly, a CFL condition imposes a
time step much smaller then the one required by the 3D FSI algorithm.
[–] May be nontrivial to implement in many widely used commercial CFD codes.

Simplified absorbing boundary conditions
3D - 1D Coupling:
[+] Allows to integrate 3D (FSI) models into lower order (1D) models that can
represent large parts of the vascular system.
[+] Effectively acts as physiological absorbing boundary condition, partially
filtrating spurious pressure wave reflections.
[–] If the 1D hyperbolic problem is solved explicitly, a CFL condition imposes a
time step much smaller then the one required by the 3D FSI algorithm.
[–] May be nontrivial to implement in many widely used commercial CFD codes.
Impose condition W2 (Q, p̄) = 0 directly on the 3D FSI model

[Nobile, Vergara, 2008] , [Janela, Moura, Sequeira, IJES, 2010]

Linear Absorbing Conditions (LAC) (explicit treatment)

[Janela, Moura, Sequeira, IJES, 2010]
I For n > 0 the (constant) pressure p̄ (n) can be set at the outflow sections by
s s !
8β
p 2
(n) A0 A0 1/4
p
p̄ + A0 p̄ (n) + A0 − A0 = Q (n−1)
ρA0 β β
I Using a Taylor expansion, a first order approximation of p̄ (n) can be given by

√
ρβ
p̄ (n) ≈ √ 5/4 Q (n−1) (1)
2A0
I This is conceptually equivalent to couple the 3D FSI model with a particular
RL circuit, capable of absorbing pressure waves.

Linear absorbing conditions
I For physiological values of the the Young modulus E , depending on the flow
rates, the linear approximations given by (1) are accurate

Benchmarking the new LAC conditions
Pressure distribution and displacement

Percentual error in the computed area of the for different sets of boundary conditions
outflow section
3D-1D Standard Reference LAC

Global flow dynamics: boundary conditions on local models Blood pressure in compartments: 0D models
Lumped parameters (0D) models

Analog to electric networks and derived by:
I integrating over the cross section, after considering simplifying assumptions
I further integration in space
Possible representation:
Q2 Q1
Q1 Q2 Q1 Q2
R L R L
P1 P2 P1 P2
C C


 dp  dp
1 2
 C
 + Q2 = Q1  C
 − Q1 = Q2
dt dt
 L dQ2 + RQ − p = p
  L dQ1 + RQ + p = p

2 1 2 1 2 1
dt dt
ρµl ρl 3lA0 R0
R= , L= , C = ,
πR04 A0 2Eh
Q2 Q1
Q1 Q2 Q1 Q2
R L R L
P1 P2 P1 P2
C C


 dp  dp
1 2
 C
 + Q2 = Q1  C
 − Q1 = Q2
dt dt
 L dQ2 + RQ − p = p
  L dQ1 + RQ + p = p

2 1 2 1 2 1
dt dt
ρµ(t)l ρl 3lA0 R0
R= , L= , C = ,
πR04 A0 2Eh
Q2 Q1
Q1 Q2 Q1 Q2
R L R L
P1 P2 P1 P2
C C


 dp  dp
1 2
 C
 + Q2 = Q1  C
 − Q1 = Q2
dt dt
 L dQ2 + RQ − p = p
  L dQ1 + RQ + p = p

2 1 2 1 2 1
dt dt
This two systems represent the same artery yet they generate different coupling
conditions since they have a different set of state variables and forcing terms
Q2 Q1
Q1 Q2 Q1 Q2
R L R L
P1 P2 P1 P2
C C

The 0D net S21

S1 S2
S22
R 211 L 211 R 212 L 212

R 11 L 11 R 12 L 12 R 2 L2
C 21
C1 C 21 C 22
R 221 L 221 R222 L 222
C 22
It gives rise to a ODE system (y is the vector of state variables):

dy


 = Φ(y, t) = A(y(t), t)y(t) + r(t) t ∈ (0, T ]
dt


y(0) = y0 .

Global flow dynamics: boundary conditions on local models Coupling 3D and 0D models
Coupling the 3D generalized Newtonian and 0D models

I Continuity of the fluxes Q
I Continuity of the mean pressure p
In a sub-structuring numerical scheme the quantities to be exchanged are governed by

the 0D model

flow rate problem: Lagrange multiplier approach
mean pressure problem: P tot n − 2µD(u) · n = P tot
The well-posedness of the coupled problem is demonstrated through a fixed-point argument

[A. Quarteroni, A. Veneziani (2003)]

Coupling the 3D generalized Newtonian and 0D models

Explicit coupling
I periodic pressure source

I 3D Carreau fluid: µ0 = 0.56Pas, µ∞ = 0.0345Pas, λ = 3.313s and n = 0.3568
mean pressure flow rate
[Sequeira, Moura, Janela, 2009]

I Continuity of the fluxes Q

1D 0D
I Continuity of the mean pressure p
R1 R2
If a sub-structuring scheme is adopted at the nu- C
merical level the quantities to be exchanged are

governed by the 0D model: here the 0D model Interface Conditions
requires Q.
The well-posedness of the coupled problem (local in time result) can be

demonstrated by using a fixed-point argument [M. Fernandez, V. Milisik, A. Quarteroni (2005)]

Including the brain circulation

[Formaggia, Moura, Nobile, Passerini, APCOM’07]
1D model of the arteries from the

Coupling the 1D extremities with 0D models
heart to the circle of Willis
I coupling with 3-element 0D models of the
type R1 CR2 :
I Continuity of fluxes and mean pressures:
dp 1D DQ1
p 1D +R2 C = pv +(R1 +R2 )Q1D +R1 R2 C
dt dt
pv = 5mmHg pressure at te entrance of the venus

system

Including the brain circulation

[Formaggia, Moura, Nobile, Passerini, APCOM’07]
1D model of the arteries from the

Coupling the 1D extremities with 0D models
heart to the circle of Willis
I coupling with 3-element 0D models of the
type R1 CR2 :
I Continuity of fluxes and mean pressures:
dp 1D DQ1
p 1D +R2 C = pv +(R1 +R2 )Q1D +R1 R2 C
dt dt
pv = 5mmHg pressure at te entrance of the venus

system

Embedding the 3D FSI model into the 1D network

The circle of Willis (CoW) Scheme of the coupling
l.e.c. l.i.c.
vertebral arteries r.i.c.
l.c.c.
Applying a pressure impulse at the inflow boundary points

I Q = 16.3cm3 /s at the inflow of the tube upstream of the carotid (l.c.c.)
I Q = 12.75cm3 /s at the right carotid (on the 1d network of the CoW) (r.i.c.)
I Q = 6.8cm3 /s at the vertebral arteries (on the 1d network of the CoW)

Embedding the 3D FSI model into the 1D network

Visualizing the detailed 3D FSI model and the 1D network of the CoW separately

Global flow dynamics: boundary conditions on local models Vizualization: Hemodynamic indicators
Physiological relevant fluid mechanics parameters

Most commonly used flow parameters associated with ICA are on or near the
vessel wall
I WSS - wall shear stress: τ n − (τ n · n)n (n → outward normal to the wall)

I WSSG - spatial wall shear stress gradients magnitude:
s 2 2
∂WSSζ1 ∂WSSζ2
WSSG = + ,
∂ζ1 ∂ζ2
ζ1 , ζ2 → perpendicular unit tangent vectors to the wall
∂WSSζ1 ∂WSSζ2
I TR - Near wall transport: + (Gambaruto et. al., J. Comp. Phys.)
∂ζ1 ∂ζ2

OSI - oscillatory shear index
I unsteady flow
GON - gradient oscillatory number
I AFI - aneurysm formation indicator.

I Disturbed Flow.
Describing the local flow behavior
First order approximation of the velocity field in terms of the spatial coordinates:
∂ui
u = Ax, with Aij = ,
∂xj
The eigenvalues of A satisfy the characteristic equation: λ3 + Pλ2 + Qλ + R = 0,

where P, Q and R are matrix invariants given by:
P = −(A11 + A22 + A33 ), R = det A

A11 A12 A11 A13 A22 A23
Q=
+ + ,
A21 A22 A31 A33 A32 A33
I Q → a measure of rotation rate over strain rate.

Particle tracking [Gambaruto, Janela, Moura, Sequeira, Mathematical Biosciences and Engineering, 2011]
I Particle tracking using identical seeding location at the aneurysm neck
GsN GsC
GSN GSC
Iso-surfaces of Q [Gambaruto, Janela, Moura, Sequeira, Mathematical Biosciences and Engineering, 2011]
GsN GsC
GSN GSC
Velocity magnitude [Gambaruto, Janela, Moura, Sequeira, Mathematical Biosciences and Engineering, 2011]
GsN GsC
GSN GSC

WSS [Gambaruto, Janela, Moura, Sequeira, Mathematical Biosciences and Engineering, 2011]
GsN GsC
GSN GSC

WSS and surface shear lines [Gambaruto, Janela, Moura, Sequeira, 2011]
GsN GsC
GSN GSC
WSSG magnitude [Gambaruto, Janela, Moura, Sequeira, Mathematical Biosciences and Engineering, 2011]
GsN GsC
GSN GSC

TR (WSSG sum) [Gambaruto, Janela, Moura, Sequeira, Mathematical Biosciences and Engineering, 2011]
GsN GsC
GSN GSC

Newtonian vs shear-thinning [Ramalho, Moura, Gambaruto, Sequeira, Math Mod Meth Biomed, 2012]
Velocity WSS WSSG

Newtonian
Difference Carreau
max = 2.9 max = 11.5 max = 191.9

(11.6%) (19.1%) (24.7%)
mean = 0.04 mean = 0.003 mean = 11.1
Idealized (vel. [cm/s]) [Ramalho, Moura, Gambaruto, Sequeira, 2012]
mean flow = 13,6 cm/s
TF - TF TF - V0 TF - 1D TF - 0D
vel diff max = 16.3 max = 7.4 max = 1.8 max = 1.9
[cm/s] (59.9%) (27.4%) (6.6%) (7.0%)
mean = 0.17 mean = 0.11 mean = 0.06 mean = 0.05
WSS diff max = 23.5 max = 13.6 max = 15.0 max = 15.0
[dyn/cm2 ] (81%) (46.8%) (51,7%) (51.7%)
mean = 4.3e-4 mean = 8.2e-4 mean = 4.4e-4 mean = 4.8e-4
INFLOW CONDITIONS
unsteady
6 steady
Idealized: steady vs unsteady (hole 1D) 5
flow rate [cmÂ³/s]

4
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7

time [s]
steady unsteady average difference

[cm/s]
velocity
max = 1,4 (5,1%)

mean = 0,15
[dyn/cm2 ]
WSS
max = 1,8 (6,4%)

mean = 0,02
INFLOW CONDITIONS
unsteady
6 steady
Idealized: unsteady (velocity [cm/s] ) 5
flow rate [cmÂ³/s]

4
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7

time [s]
trac. free
1D
Diff
max = 12,4 (45,6%) max = 7,0 (25,7%) max = 2.8 (10,3%)

mean = 0,22
Alexandra Bugalho de Moura
mean = 0,16 mean=0,23
ESSIM, Dresden, August 2012 105 / 110
Patient-specific vs Idealized [Ramalho, Moura, Gambaruto, A. Sequeira, IJNMBE, 2012]

References
References (see references therein)

I A. Quarteroni and L. Formaggia. Mathematical modelling and numerical simulation of the
cardiovascular system. In: Handbook of Numerical Analysis, P.G Ciarlet and J.L Lions Eds.
and N. Ayache editors, Elsevier, Amsterdam, 2002. (MOX report 1)
I M. Fernandéz. Coupling schemes for the incompressible fluid-structure interaction:
implicit, semi-implicit and explicit. SeaMa Journal, 55:59-108, 2011. (INRIA report)
I L. Formaggia and A. Veneziani. Reduced and multiscale models for the human
cardiovascular system. Lecture notes VKI Lecture Series 2003-07, Brussels. 2003. (MOX
report 21)
I J. Cebral et. al. Characterization of Cerebral Aneurysms for Assessing Risk of Rupture By
Using Patient-Specific Computational Hemodynamics Models. American Journal of
Neuroradiology. 26:25502559. 2005.
I Taylor CA, Steinman DA. Image-based modeling of blood flow and vessel wall dynamics:
Applications, methods and future directions. Ann Biomed Eng 2010 Mar; 38(3): 1188-203
I L. Formaggia, A. Moura e F. Nobile. On the stability of the coupling of 3D and 1D
fluid-structure interaction models for blood flow simulations. ESAIM: Mathematical
Modelling and Numerical Analysis (M2AN), 41(4): 743-769, 2007.
I J. Janela, A. Moura e A. Sequeira. Absorbing boundary conditions for a 3D non-Newtonian
fluid-structure interaction model for blood flow in arteries.International Journal of
Engineering Sciences, 48(11): 1332-1349, 2010.
I A.M. Gambaruto, J. Janela, A. Moura e A. Sequeira. Sensitivity of hemodynamics in
patient specific cerebral aneurysms to vascular geometry and blood rheology.Mathematical
Biosciences and Engineering, 8(2): 409-423, 2011.

Mathematical Models of the Human Cardiovascular System

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Mathematical Models and Simulation of the

Human Cardiovascular System

Alexandra Bugalho de Moura

CEMAT, Instituto Superior Técnico, Technical University of Lisbon, Portugal

ESSIM, Dresden, August 2012

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 1 / 110

The cardiovascular system

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 3 / 110

The cardiovascular system

I TASK: Suplying the organs with blood

I large (systemic) circulation: carries oxygenated blood to the various organs

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 3 / 110

I Diversity of function and geometry (from large arteries to capilaries)

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 4 / 110

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 5 / 110

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 5 / 110

I provides quantitative data such as

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 5 / 110

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 6 / 110

Cardiovascular diseases: atherosclerosis

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 7 / 110

Cardiovascular diseases: atherosclerosis

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 8 / 110

Cardiovascular diseases: cerebral aneurysms

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 9 / 110

Computational hemodynamics Computational Fluid Mechanics - CFD

I Correlation between local hemodynamics and cardiovascular pathologies

I better understanding the on-rise and the development of (individual)

PREDICTIVE MEDICINE ⇒ HELP CLINICAL DECISION

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 10 / 110

Maximum intensity projections

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 11 / 110

Medical image reconstruction

I image segmentation: e.g. constant threshold

Sensitivity to medical image reconstruction (segmentation)

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 13 / 110

Sensitivity to medical image reconstruction (smoothing)

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 14 / 110

Geometry Numerical simulations

Image and medical

FEEDBACK Post-processing visualization

Patient’s real data

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 15 / 110

Blood flow in arteries

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 16 / 110

Blood flow in arteries

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 16 / 110

Blood flow in arteries

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 16 / 110

Blood flow in arteries

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 16 / 110

Blood flow in arteries

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 16 / 110

Blood flow in arteries

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 16 / 110

Blood flow in arteries

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 16 / 110

Describing the dynamics

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 17 / 110

Describing the dynamics

Alexandra Bugalho de Moura ESSIM, Dresden, August 2012 17 / 110

The Navier-Stokes equations