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Progress in Osteochondral Regeneration with Engineering Strategies. Ann Biomed Eng 2022; 50:1232-1242. [PMID: 35994165 DOI: 10.1007/s10439-022-03060-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/26/2022] [Accepted: 08/11/2022] [Indexed: 11/01/2022]
Abstract
Osteoarthritis, the main cause of disability worldwide, involves not only cartilage injury but also subchondral bone injury, which brings challenges to clinical repair. Tissue engineering strategies provide a promising solution to this degenerative disease. Articular cartilage connects to subchondral bone through the osteochondral interfacial tissue, which has a complex anatomical architecture, distinct cell distribution and unique biomechanical properties. Forming a continuous and stable osteochondral interface between cartilage tissue and subchondral bone is challenging. Thus, successful osteochondral regeneration with engineering strategies requires intricately coordinated interplay between cells, materials, biological factors, and physical/chemical factors. This review provides an overview of the anatomical composition, microstructure, and biomechanical properties of the osteochondral interface. Additionally, the latest research on the progress related to osteochondral regeneration is reviewed, especially discussing the fabrication of biomimetic scaffolds and the regulation of biological factors for osteochondral defects.
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Njoto I. Hyperglycemia Duration Impact On Anatomical Damage Level Of Osteoarthritic Articular Cartilage In Rat Models With Diabetes Mellitus Type 1. RUSSIAN OPEN MEDICAL JOURNAL 2021. [DOI: 10.15275/rusomj.2021.0304] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022] Open
Abstract
Background — Diabetes mellitus caused alteration of chondrocytes morphology of superficial layer on osteoarthritic articular (OA) cartilage in an articular cartilage rat model. These results need to be analyzed in relation to hyperglycemia duration. Objective — This study evaluates the influence of hyperglycemia on microscopic anatomical damage progression in OA cartilage. Material and Methods — Thirty-five adult male rats were divided into seven groups: control group, three OA groups, and three OA groups with type 1 diabetes mellitus (DMT-1). For OA groups, the first, second, and third group was sacrificed on the third, fourth, and sixth week respectively after two months maintenance. OA with DMT-1 groups were performed anterior cruciate ligament transaction (ACLT) and were injected streptozotocin intraperitoneally to promote DMT-1 for one-month maintenance. DMT-1.1, DMT-1.2, and DMT-1.3 group was sacrificed on the third, fourth, and sixth week respectively after two months maintenance. The right knee cartilage was taken and processed for histopathology with hematoxylin and eosin staining, then analyzed using a Pritzker scale. Results — In OA group with DMT-1, hyperglycemia duration (6th>4th>3th weeks exposure) increased the level of damage in the OA cartilage compared with the OA group. Pritzker scale observe on deeper abrasiveness of the superficial articular layer, cartilage fissure reaching the middle layer, a more severe decrease in the chondrocytes columnar pattern, changing of matrix integrity, and many sclerotic conditions were provoked by increasing the hyperglycemia duration. Conclusion — Hyperglycemia duration influenced the damage level in the articular cartilage, increasing the progression of OA disease in animal models.
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Affiliation(s)
- Ibrahim Njoto
- University of Wijaya Kusuma Surabaya, Surabaya, East Java, Indonesia
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Ristaniemi A, Tanska P, Stenroth L, Finnilä MAJ, Korhonen RK. Comparison of material models for anterior cruciate ligament in tension: from poroelastic to a novel fibril-reinforced nonlinear composite model. J Biomech 2020; 114:110141. [PMID: 33302181 DOI: 10.1016/j.jbiomech.2020.110141] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/04/2020] [Revised: 11/05/2020] [Accepted: 11/12/2020] [Indexed: 12/15/2022]
Abstract
Computational models of the knee joint are useful for evaluating stresses and strains within the joint tissues. However, the outcome of those models is sensitive to the material model and material properties chosen for ligaments, the collagen reinforced tissues connecting bone to bone. The purpose of this study was to investigate different compositionally motivated material models and further to develop a model that can accurately reproduce experimentally measured stress-relaxation data of bovine anterior cruciate ligament (ACL). Tensile testing samples were extracted from ACLs of bovine knee joints (N = 10) and subjected to a three-step stress-relaxation test at the toe region. Data from the experiments was averaged and one average finite element model was generated to replicate the experiment. Poroelastic and different fibril-reinforced poro(visco)elastic material models were applied, and their material parameters were optimized to reproduce the experimental force-time response. Material models with only fluid flow mediated relaxation were not able to capture the stress-relaxation behavior (R2 = 0.806, 0.803 and 0.938). The inclusion of the viscoelasticity of the fibrillar network improved the model prediction (R2 = 0.978 and 0.976), but the complex stress-relaxation behavior was best captured by a poroelastic model with a nonlinear two-relaxation-time strain-recruited viscoelastic fibrillar network (R2 = 0.997). The results suggest that in order to replicate the multi-step stress-relaxation behavior of ACL in tension, the fibrillar network formulation should include the complex nonlinear viscoelastic phenomena.
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Affiliation(s)
- A Ristaniemi
- Department of Applied Physics, University of Eastern Finland, Kuopio, Finland.
| | - P Tanska
- Department of Applied Physics, University of Eastern Finland, Kuopio, Finland
| | - L Stenroth
- Department of Applied Physics, University of Eastern Finland, Kuopio, Finland
| | - M A J Finnilä
- Research Unit of Medical Imaging, Physics and Technology, University of Oulu, Oulu, Finland
| | - R K Korhonen
- Department of Applied Physics, University of Eastern Finland, Kuopio, Finland
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WANG MONAN, JI YUANXIN, WANG JIAN, JING JUNTONG. FINITE ELEMENT ANALYSIS OF FULL-LAYER REPAIR BASED ON IMPROVED ARTICULAR CARTILAGE MODEL. J MECH MED BIOL 2019. [DOI: 10.1142/s0219519419400669] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
In this paper, the tangential zone of cartilage is introduced into the fiber-reinforced model of articular cartilage. Considering the distribution content of the main fiber and the secondary fiber in the tangential layer of cartilage, the permeability and fiber stiffness of the layer are set in parallel and perpendicular directions, respectively, to more accurately reflect the mechanical behavior of cartilage. The parameters are set to reflect the mechanical behavior of the cartilage more realistically. We use a modified articular cartilage model to simulate the mechanical properties of implanted cartilage with different elastic modulus. The simulation results show that the selection of implants with different elastic modulus will affect the repair of cartilage. Appropriately increasing the elastic modulus of implanted cartilage, can increase the bearing capacity of the repaired area and reduce the stress concentration at the junction. The elastic modulus of the implant should be moderate, not too large or too small, and the damage of stress concentration on the repair surface should be considered. Through simulation, the mechanical state of the repaired cartilage under pressure can be obtained comprehensively, which provides a theoretical basis for clinical pathology.
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Affiliation(s)
- MONAN WANG
- Digital Medicine Institute, Harbin University of Science and Technology, Harbin 150080, P. R. China
| | - YUANXIN JI
- Digital Medicine Institute, Harbin University of Science and Technology, Harbin 150080, P. R. China
| | - JIAN WANG
- Digital Medicine Institute, Harbin University of Science and Technology, Harbin 150080, P. R. China
| | - JUNTONG JING
- College of Letter and Science, University of California, Santa Barbara, California 93107, United States
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WANG MONAN, JI YUANXIN, MA YUZHENG, JING JUNTONG. MODELING AND INJURY REPAIR ANALYSIS OF ARTICULAR CARTILAGE BASED ON FIBER CONTENT. J MECH MED BIOL 2019. [DOI: 10.1142/s0219519419400505] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
It has great guiding significance for the prevention of osteoarthritis and the mechanical state of cartilage after tissue engineering repair to study the relationship between the mechanical properties of cartilage and its structure. This paper considered both the consideration of the solid phase, liquid phase, fiber-reinforced phase in the cartilage and the influence of the contents of major fibers and minor fibers near the cartilage surface. Based on these, a tangential zone of cartilage was established, and a certain improvement and optimization of the fiber-reinforced porous elastic model was performed. The Abaqus software and the Fortran language were used to complete simulation. Simulation results were compared with experiment’s results to verify the validity of the model. Finally, the model was used to perform finite element analysis of different degrees of repairable depth under sliding conditions. Several results were obtained. When the indenter is farther from the interface at the repair site, the mechanical changes in the cartilage are relatively stable. The contact stress of the tangential layer repair and the full-layer repair is small. The volume fraction of the liquid phase in the tangential layer and the full layer repair is lower than that in the other layer regions. The liquid flow rate and the Von Mises stress at the junction of the tangential layer repair are very high. Simulation results were used to explore differences in cartilage mechanical properties of different repairable depths, so as to select the best repairable depth for cartilage.
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Affiliation(s)
- MONAN WANG
- Digital Medicine Institute, Harbin University of Science and Technology, Harbin 150080, P. R. China
| | - YUANXIN JI
- Digital Medicine Institute, Harbin University of Science and Technology, Harbin 150080, P. R. China
| | - YUZHENG MA
- Digital Medicine Institute, Harbin University of Science and Technology, Harbin 150080, P. R. China
| | - JUNTONG JING
- College of Letter and Science, University of California, Santa Barbara, California 93107, USA
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Castilho M, Mouser V, Chen M, Malda J, Ito K. Bi-layered micro-fibre reinforced hydrogels for articular cartilage regeneration. Acta Biomater 2019; 95:297-306. [PMID: 31233890 PMCID: PMC7116027 DOI: 10.1016/j.actbio.2019.06.030] [Citation(s) in RCA: 71] [Impact Index Per Article: 14.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/23/2019] [Revised: 05/11/2019] [Accepted: 06/18/2019] [Indexed: 02/07/2023]
Abstract
Articular cartilage has limited capacity for regeneration and when damaged cannot be repaired with currently available metallic or synthetic implants. We aim to bioengineer a microfibre-reinforced hydrogel that can capture the zonal depth-dependent mechanical properties of native cartilage, and simultaneously support neo-cartilage formation. With this goal, a sophisticated bi-layered microfibre architecture, combining a densely distributed crossed fibre mat (superficial tangential zone, STZ) and a uniform box structure (middle and deep zone, MDZ), was successfully manufactured via melt electrospinning and combined with a gelatin-methacrylamide hydrogel. The inclusion of a thin STZ layer greatly increased the composite construct's peak modulus under both incongruent (3.2-fold) and congruent (2.1-fold) loading, as compared to hydrogels reinforced with only a uniform MDZ structure. Notably, the stress relaxation response of the bi-layered composite construct was comparable to the tested native cartilage tissue. Furthermore, similar production of sulphated glycosaminoglycans and collagen II was observed for the novel composite constructs cultured under mechanical conditioning w/o TGF-ß1 supplementation and in static conditions w/TGF-ß1 supplementation, which confirmed the capability of the novel composite construct to support neo-cartilage formation upon mechanical stimulation. To conclude, these results are an important step towards the design and manufacture of biomechanically competent implants for cartilage regeneration. STATEMENT OF SIGNIFICANCE: Damage to articular cartilage results in severe pain and joint disfunction that cannot be treated with currently available implants. This study presents a sophisticated bioengineered bi-layered fibre reinforced cell-laden hydrogel that can approximate the functional mechanical properties of native cartilage. For the first time, the importance of incorporating a viable superficial tangential zone (STZ) - like structure to improve the load-bearing properties of bioengineered constructs, particularly when in-congruent surfaces are compressed, is demonstrated. The present work also provides new insights for the development of implants that are able to promote and guide new cartilaginous tissue formation upon physiologically relevant mechanical stimulation.
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Affiliation(s)
- Miguel Castilho
- Department of Orthopaedics, University Medical Center Utrecht, Utrecht, The Netherlands; Orthopaedic Biomechanics, Department of Biomedical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands; Regenerative Medicine Utrecht, Utrecht, The Netherlands.
| | - Vivian Mouser
- Orthopaedic Biomechanics, Department of Biomedical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands
| | - Mike Chen
- School of Mathematical Sciences, The University of Adelaide, Adelaide, SA, Australia
| | - Jos Malda
- Department of Orthopaedics, University Medical Center Utrecht, Utrecht, The Netherlands; Regenerative Medicine Utrecht, Utrecht, The Netherlands; Department of Functional Materials in Medicine and Dentistry, University of Würzburg, Würzburg, Germany
| | - Keita Ito
- Department of Orthopaedics, University Medical Center Utrecht, Utrecht, The Netherlands; Orthopaedic Biomechanics, Department of Biomedical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands; Regenerative Medicine Utrecht, Utrecht, The Netherlands.
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Sajjadinia SS, Haghpanahi M, Razi M. Computational simulation of the multiphasic degeneration of the bone-cartilage unit during osteoarthritis via indentation and unconfined compression tests. Proc Inst Mech Eng H 2019; 233:871-882. [DOI: 10.1177/0954411919854011] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
It has been experimentally proposed that the discrete regions of articular cartilage, along with different subchondral bone tissues, known as the bone-cartilage unit, are biomechanically altered during osteoarthritis degeneration. However, a computational framework capturing all of the dominant changes in the multiphasic parameters has not yet been developed. This article proposes a new finite element model of the bone-cartilage unit by combining several validated, nonlinear, depth-dependent, fibril-reinforced, and swelling models, which can computationally simulate the variations in the dominant parameters during osteoarthritis degeneration by indentation and unconfined compression tests. The mentioned dominant parameters include the proteoglycan depletion, collagen fibrillar softening, permeability, and fluid fraction increase for approximately non-advanced osteoarthritis. The results depict the importance of subchondral bone tissues in fluid distribution within the bone-cartilage units by decreasing the fluid permeation and pressure (up to a maximum of 100 kPa) during osteoarthritis, supporting the notion that subchondral bones might play a role in the pathogenesis of osteoarthritis. Furthermore, the osteoarthritis composition-based studies shed light on the significant biomechanical role of the calcified cartilage, which experienced a maximum change of 70 kPa in stress, together with relative load contributions of articular cartilage constituents during osteoarthritis, in which the osmotic pressure bore around 70% of the loads after degeneration. To conclude, the new insights provided by the results reveal the significance of the multiphasic osteoarthritis simulation and demonstrate the functionality of the proposed bone-cartilage unit model.
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Affiliation(s)
| | - Mohammad Haghpanahi
- School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
| | - Mohammad Razi
- Department of Orthopedic Surgery, Iran University of Medical Sciences, Tehran, Iran
- Department of Sports Medicine, Iran University of Medical Sciences, Tehran, Iran
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Sakai N, Yarimitsu S, Sawae Y, Komori M, Murakami T. Biomimetic artificial cartilage: fibre‐reinforcement of PVA hydrogel to promote biphasic lubrication mechanism. BIOSURFACE AND BIOTRIBOLOGY 2019. [DOI: 10.1049/bsbt.2018.0031] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2022] Open
Affiliation(s)
- Nobuo Sakai
- Integrated Systems EngineeringKyushu Institute of TechnologyKitakyushuJapan
| | - Seido Yarimitsu
- Intelligent Mechanical Systems, System DesignTokyo Metropolitan UniversityTokyoJapan
| | - Yoshinori Sawae
- Mechanical EngineeringKyushu UniversityFukuokaJapan
- Research Center for Advanced BiomechanicsKyushu UniversityFukuokaJapan
| | - Mochimitsu Komori
- Integrated Systems EngineeringKyushu Institute of TechnologyKitakyushuJapan
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Przekora A. Current Trends in Fabrication of Biomaterials for Bone and Cartilage Regeneration: Materials Modifications and Biophysical Stimulations. Int J Mol Sci 2019; 20:E435. [PMID: 30669519 PMCID: PMC6359292 DOI: 10.3390/ijms20020435] [Citation(s) in RCA: 54] [Impact Index Per Article: 10.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/21/2018] [Revised: 01/15/2019] [Accepted: 01/18/2019] [Indexed: 12/22/2022] Open
Abstract
The aim of engineering of biomaterials is to fabricate implantable biocompatible scaffold that would accelerate regeneration of the tissue and ideally protect the wound against biodevice-related infections, which may cause prolonged inflammation and biomaterial failure. To obtain antimicrobial and highly biocompatible scaffolds promoting cell adhesion and growth, materials scientists are still searching for novel modifications of biomaterials. This review presents current trends in the field of engineering of biomaterials concerning application of various modifications and biophysical stimulation of scaffolds to obtain implants allowing for fast regeneration process of bone and cartilage as well as providing long-lasting antimicrobial protection at the site of injury. The article describes metal ion and plasma modifications of biomaterials as well as post-surgery external stimulations of implants with ultrasound and magnetic field, providing accelerated regeneration process. Finally, the review summarizes recent findings concerning the use of piezoelectric biomaterials in regenerative medicine.
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Affiliation(s)
- Agata Przekora
- Chair and Department of Biochemistry and Biotechnology, Medical University of Lublin, W. Chodzki 1 Street, 20-093 Lublin, Poland.
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10
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Yamaguchi T, Sato R, Sawae Y. Propagation of Fatigue Cracks in Friction of Brittle Hydrogels. Gels 2018; 4:E53. [PMID: 30674829 PMCID: PMC6209280 DOI: 10.3390/gels4020053] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/14/2018] [Revised: 06/05/2018] [Accepted: 06/06/2018] [Indexed: 11/16/2022] Open
Abstract
In order to understand fatigue crack propagation behavior in the friction of brittle hydrogels, we conducted reciprocating friction experiments between a hemi-cylindrical indenter and an agarose hydrogel block. We found that the fatigue life is greatly affected by the applied normal load as well as adhesion strength at the bottom of the gel⁻substrate interface. On the basis of in situ visualizations of the contact areas and observations of the fracture surfaces after the friction experiments, we suggest that the mechanical condition altered by the delamination of the hydrogel from the bottom substrate plays an essential role in determining the fatigue life of the hydrogel.
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Affiliation(s)
- Tetsuo Yamaguchi
- Department of Mechanical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan.
- International Institute for Carbon-Neutral Energy Research, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan.
| | - Ryuichiro Sato
- Department of Mechanical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan.
| | - Yoshinori Sawae
- Department of Mechanical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan.
- International Institute for Carbon-Neutral Energy Research, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan.
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Urbanek O, Kołbuk D, Wróbel M. Articular cartilage: New directions and barriers of scaffolds development – review. INT J POLYM MATER PO 2018. [DOI: 10.1080/00914037.2018.1452224] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
Affiliation(s)
- Olga Urbanek
- Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw, Poland
| | - Dorota Kołbuk
- Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw, Poland
| | - Mikołaj Wróbel
- Ortopedika – Centre for Specialized Surgery, Warsaw, Poland
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Sakai N, Yarimitsu S, Sawae Y, Komori M, Murakami T. Transitional behaviour between biphasic lubrication and soft elastohydrodynamic lubrication of poly(vinyl alcohol) hydrogel using microelectromechanical system pressure sensor. BIOSURFACE AND BIOTRIBOLOGY 2018. [DOI: 10.1049/bsbt.2018.0001] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/28/2022] Open
Affiliation(s)
- Nobuo Sakai
- Integrated System EngineeringKyushu Institute of TechnologyKitakyushuJapan
| | - Seido Yarimitsu
- Intelligent Mechanical SystemsSystem DesignTokyo Metropolitan UniversityTokyoJapan
| | - Yoshinori Sawae
- Mechanical EngineeringKyushu UniversityFukuokaJapan
- Research Center for Advanced BiomechanicsKyushu UniversityFukuokaJapan
| | - Mochimitsu Komori
- Integrated System EngineeringKyushu Institute of TechnologyKitakyushuJapan
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Men YT, Jiang YL, Chen L, Zhang CQ, Ye JD. On mechanical mechanism of damage evolution in articular cartilage. MATERIALS SCIENCE & ENGINEERING. C, MATERIALS FOR BIOLOGICAL APPLICATIONS 2017; 78:79-87. [PMID: 28576051 DOI: 10.1016/j.msec.2017.03.289] [Citation(s) in RCA: 22] [Impact Index Per Article: 3.1] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/02/2016] [Revised: 12/20/2016] [Accepted: 03/30/2017] [Indexed: 01/01/2023]
Abstract
Superficial lesions of cartilage are the direct indication of osteoarthritis. To investigate the mechanical mechanism of cartilage with micro-defect under external loading, a new plain strain numerical model with micro-defect was proposed and damage evolution progression in cartilage over time has been simulated, the parameter were studied including load style, velocity of load and degree of damage. The new model consists of the hierarchical structure of cartilage and depth-dependent arched fibers. The numerical results have shown that not only damage of the cartilage altered the distribution of the stress but also matrix and fiber had distinct roles in affecting cartilage damage, and damage in either matrix or fiber could promote each other. It has been found that the superficial cracks in cartilage spread preferentially along the tangent direction of the fibers. It is the arched distribution form of fibers that affects the crack spread of cartilage, which has been verified by experiment. During the process of damage evolution, its extension direction and velocity varied constantly with the damage degree. The rolling load could cause larger stress and strain than sliding load. Strain values of the matrix initially increased and then decreased gradually with the increase of velocity, and velocity had a greater effect on matrix than fibers. Damage increased steadily before reaching 50%, sharply within 50 to 85%, and smoothly and slowly after 85%. The finding of the paper may help to understand the mechanical mechanism why the cracks in cartilage spread preferentially along the tangent direction of the fibers.
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Affiliation(s)
- Yu-Tao Men
- Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, PR China.
| | - Yan-Long Jiang
- Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, PR China
| | - Ling Chen
- Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, PR China
| | - Chun-Qiu Zhang
- Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, PR China
| | - Jin-Duo Ye
- Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, PR China
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