Emergent three-dimensional sperm motility: coupling calcium dynamics and preferred curvature in a Kirchhoff rod model

Reviewing mathematical models of sperm signaling networks

Dave Garbers' work significantly contributed to our understanding of sperm's regulated motility, capacitation, and the acrosome reaction. These key sperm functions involve complex multistep signaling pathways engaging numerous finely orchestrated elements. Despite significant progress, many parameters and interactions among these elements remain elusive. Mathematical modeling emerges as a potent tool to study sperm physiology, providing a framework to integrate experimental results and capture functional dynamics considering biochemical, biophysical, and cellular elements. Depending on research objectives, different modeling strategies, broadly categorized into continuous and discrete approaches, reveal valuable insights into cell function. These models allow the exploration of hypotheses regarding molecules, conditions, and pathways, whenever they become challenging to evaluate experimentally. This review presents an overview of current theoretical and experimental efforts to understand sperm motility regulation, capacitation, and the acrosome reaction. We discuss the strengths and weaknesses of different modeling strategies and highlight key findings and unresolved questions. Notable discoveries include the importance of specific ion channels, the role of intracellular molecular heterogeneity in capacitation and the acrosome reaction, and the impact of pH changes on acrosomal exocytosis. Ultimately, this review underscores the crucial importance of mathematical frameworks in advancing our understanding of sperm physiology and guiding future experimental investigations.

Modelling Motility: The Mathematics of Spermatozoa

In one of the first examples of how mechanics can inform axonemal mechanism, Machin's study in the 1950s highlighted that observations of sperm motility cannot be explained by molecular motors in the cell membrane, but would instead require motors distributed along the flagellum. Ever since, mechanics and hydrodynamics have been recognised as important in explaining the dynamics, regulation, and guidance of sperm. More recently, the digitisation of sperm videomicroscopy, coupled with numerous modelling and methodological advances, has been bringing forth a new era of scientific discovery in this field. In this review, we survey these advances before highlighting the opportunities that have been generated for both recent research and the development of further open questions, in terms of the detailed characterisation of the sperm flagellum beat and its mechanics, together with the associated impact on cell behaviour. In particular, diverse examples are explored within this theme, ranging from how collective behaviours emerge from individual cell responses, including how these responses are impacted by the local microenvironment, to the integration of separate advances in the fields of flagellar analysis and flagellar mechanics.

A Bayesian Framework to Estimate Fluid and Material Parameters in Micro-swimmer Models

To advance our understanding of the movement of elastic microstructures in a viscous fluid, techniques that utilize available data to estimate model parameters are necessary. Here, we describe a Bayesian uncertainty quantification framework that is highly parallelizable, making parameter estimation tractable for complex fluid-structure interaction models. Using noisy in silico data for swimmers, we demonstrate the methodology's robustness in estimating fluid and elastic swimmer parameters, along with their uncertainties. We identify correlations between model parameters and gain insight into emergent swimming trajectories of a single swimmer or a pair of swimmers. Our proposed framework can handle data with a spatiotemporal resolution representative of experiments, showing that this framework can be used to aid in the development of artificial micro-swimmers for biomedical applications, as well as gain a fundamental understanding of the range of parameters that allow for certain motility patterns.

Dynamics of Swimmers in Fluids with Resistance

Micro-swimmers such as spermatozoa are able to efficiently navigate through viscous fluids that contain a sparse network of fibers or other macromolecules. We utilize the Brinkman equation to capture the fluid dynamics of sparse and stationary obstacles that are represented via a single resistance parameter. The method of regularized Brinkmanlets is utilized to solve for the fluid flow and motion of the swimmer in 2-dimensions when assuming the flagellum (tail) propagates a curvature wave. Extending previous studies, we investigate the dynamics of swimming when varying the resistance parameter, head or cell body radius, and preferred beat form parameters. For a single swimmer, we determine that increased swimming speed occurs for a smaller cell body radius and smaller fluid resistance. Progression of swimmers exhibits complex dynamics when considering hydrodynamic interactions; attraction of two swimmers is a robust phenomenon for smaller beat amplitude of the tail and smaller fluid resistance. Wall attraction is also observed, with a longer time scale of wall attraction with a larger resistance parameter.