Journal of Biomechanics 35 (2002) 665–671 Fluid dynamics of the left ventricular filling in dilated cardiomyopathy Bernardo Baccania, Federico Domenichinia,*, Gianni Pedrizzettib, Giovanni Tontic Dipartimento di Ingegneria Civile, Universita" di Firenze, Via S. Marta 3, 50139 Firenze, Italy b Dipartimento di Ingegneria Civile, Universita" di Trieste, p.le Europa 1, 34127 Trieste Italy c Ospedale SS. Annunziata, Division of Cardiology, via Circonvallazione Occidentale 145, 67039 Sulmona, Italy a Accepted 28 December 2001 Abstract Modifications in diastolic function occur in a broad range of cardiovascular diseases and there is an increasing evidence that abnormalities in left ventricular function may contribute significantly to the symptomatology. The flow inside the left ventricle during the diastole is here investigated by numerical solution of the Navier–Stokes equations under the axisymmetric assumption. The equation are written in a body-fitted, moving prolate spheroid, system of coordinates and solved using a fractional step method. The system is forced by a given volume time-law derived from clinical data, and varying the two-degrees-of-freedom ventricle geometry on the basis of a simple model. The solution under healthy conditions is analysed in terms of vorticity dynamics, showing that the flow field is characterised by the presence of a vortex wake; it is attached to the mitral valve during the accelerating phase of the E-wave, and it detaches and translate towards the ventricle apex afterwards. The flow evolution is discussed, results are also reported as an M-mode representation of colour-coded Doppler velocity maps. In the presence of ventricle dilatation the mitral jet extends farther inside the ventricle, propagation velocity decreases, and the fluid stagnates longer at the apex. r 2002 Elsevier Science Ltd. All rights reserved. Keywords: Left ventricle; Diastole; Fluid dynamics; Vorticity dynamics; Vortices 1. Introduction The role of the diastolic function in human health and disease remains nowadays enigmatic, depending on the difficulty in its assessment by physical examination or even by direct invasive measurement. Diastolic dysfunction can be defined as the inability of the hearth to accept adequate filling volume without an abnormal raise of the filling pressure; it is an early, and sometimes unique, manifestation of myocardial disease (Mandinov et al., 2000). Unfortunately, the non-invasive diagnostic tools currently available in the clinical setting are affected by the large number of haemodynamic dependent or independent variables which influence the measured parameters. For this reason, an unambiguous interpretation in terms of correspondence between *Corresponding author. Tel.: +39-055-4796321; fax: +39-055495333. E-mail address: federico@ingfi1.ing.unifi.it (F. Domenichini). definite pathological processes and typical semeiologic signs is difficult to achieve. An intriguing aspect of the left heart dynamics is the hypothesised occurrence of diastolic vortices within the ventricular chamber; it has been recognised by several investigators using simple theoretical models and flow visualisation techniques (Bellhouse, 1972; Reul et al., 1981; Wieting and Stripling, 1984; van Dijk, 1984). Those studies and other recent observations based on colour Doppler mapping (Kim et al., 1994; Firstenberg et al., 2000; Tonti et al., 2001) and on Magnetic Resonance Imaging (Kim et al., 1995; Kilner et al., 2000) stimulated our interest in clarifying the phenomenon with the objective to obtain a quantitative description. An accurate modelling of the flow inside the left ventricle can contribute to build interpretative schemes of these observations. Recently, the problem has been investigated using the numerical approach. From a mathematical point of view, the problem can be represented as a 0021-9290/02/$ - see front matter r 2002 Elsevier Science Ltd. All rights reserved. PII: S 0 0 2 1 - 9 2 9 0 ( 0 2 ) 0 0 0 0 5 - 2 666 B. Baccani et al. / Journal of Biomechanics 35 (2002) 665–671 three-dimensional flow entering into an expanding cavity, where a dominant role is played by the fluid– wall interaction; in order to solve such a problem several parameters are in principle required, among these the ventricular geometry, the mechanical properties of the wall, and the time-laws of the entering flow and of the pressure, at least in one point of the domain. Different models have been developed, each of them focussed on the analysis of particular aspects of the problem, thus characterised by specific simplifying assumptions. A relevant phenomenon commonly detected is the presence of diastolic vortices, which are generated by the incoming flow through the mitral valve. A numerical scheme based on the adaptive finite elements method has been employed to analyse the flow during the diastolic filling (Vierendeels et al., 2000). The wall finite displacements are there evaluated by a linear thin elastic membrane model with a time-varying Young modulus, extending a one-dimensional scheme developed previously (Vierendeels et al., 1997). This technique, although limited to the axisymmetric approximation, requires a special effort to capture the local details of the diastolic flow: a high resolution is necessary to describe the thin vorticity layer shed from the mitral valve, and to solve the complex interaction between the incoming jet and the thin wall boundary layers. A further difficulty is represented by the definition of the inlet velocity profile, depending on the scarcity of experimental data, whose characteristics are intimately connected to the properties and the size of the wake vortices. In (Vierendeels et al., 2000) an ellipsoidal ventricle is assumed at end systole, the valve is reproduced by extending the length beyond the maximum ellipsoid radius, and an unspecified blunt inlet profile is assumed. As a result, the mitral jet front vortex occupies the whole chamber similarly to the tube flow in presence of an expansion (Pedrizzetti, 1996). Notwithstanding these points the analysis of Vierendeels et al. (2000) represents, presently and to the authors’ knowledge, the most accurate simulation under realistic conditions, therefore the one to compare with. The alternative method of the immersed boundary elements, for the coupled solution of the fluid–wall problem, has been applied to the dynamics of the left heart (Lemmon and Yoganathan, 2000, and references therein). This general three-dimensional technique is able to give an overall picture in arbitrarily complex geometry, however it is unable to resolve accurately the boundary layers depending on the used interpolating procedure. The numerical results can be compared with experimental and clinical data; in the present context it is useful to compare them with quantities commonly measured in the clinical practice, such as the space–time distribution of the velocity component along a vertical line inside of the ventricle given by a color M-mode Doppler echocardiography (Takatsuji et al., 1997; Garcia et al., 1998, and references therein). The mentioned numerical results (Vierendeels et al., 2000) give M-mode maps in qualitative agreement with clinical observations (Stugaard et al., 1994; Garcia et al., 1998) and with experimental findings obtained with a thin rubber ventricle model (Steen and Steen, 1994), where the dependency of the measured velocity on the characteristics of the mitral valve is quantified. On the basis of the experimental and numerical results a physical picture of the left ventricle filling can be given, at least in axisymmetric flow under healthy conditions. Initially, the mitral inflow enters at once in the whole ventricle with a velocity that decreases from the valve value to the slowly moving apex; during this initial phase a wake is generated and remains attached to the valvular edge. In a second phase, usually corresponding to the deceleration of the inlet flow (diastasis), the attached wake is released and translates toward the ventricle apex; the wake interacts with the ventricle wall, generates induced boundary-layers and secondary vortices. The present work aims to provide an insight to the fluid mechanics in the left ventricle during the unsteady filling period, diastole, by an accurate numerical solution of the Navier–Stokes equations in an idealised ventricle geometry. The flow phenomena are studied under healthy conditions using data adapted from clinical measurements, the results are assumed as a reference for the subsequent investigation. This deals with the flow modifications induced by a different geometry of the ventricle, which in the present work is assumed as a simplified model of dilated cardiomyopathy. The axisymmetric approximation is assumed in this first instance. The left ventricle is modelled as a truncated prolate spheroid, a geometry representative of an idealised still realistic ventricle. The mitral valve, held open, corresponds to a thin circular orifice at the inlet where a flow with infinitesimal boundary layer is allowed. The fluid equations are solved by finite differences in boundary fitted moving coordinates. The numerical scheme allows a detailed description of the most relevant fluid phenomena, in particular it is able to capture narrow vorticity layer, like the boundary layer at the wall and the entering vortex wake, and their interaction. The system is forced by a given time law of the inflow discharge adapted from clinical data, the wall motion is derived from this on the basis of a simple elastic membrane model. A physically based irrotational inlet velocity profile is assumed, without any further specification. Results are reported under healthy conditions and at different pathological stages of a virtual dilated cardiomyopathy. The fluid dynamics is analysed in combination with clinical-like M-mode to eventually propose interpretative physical pictures. B. Baccani et al. / Journal of Biomechanics 35 (2002) 665–671 where Cm and CZ represent the convective terms, which include the coordinates’ kinematics, 2. Methods The flow dynamics inside a model left ventricle of an incompressible fluid with density r and kinematic viscosity n is studied. The ventricle is assumed to be half of a prolate spheroid, with half long axis H n ðtn Þ and diameter Dn ðtn Þ; tn is the dimensional time. The mitral valve is modelled as an orifice of infinitesimal thickness in the equatorial plane, with a diameter Dnv ðtn Þ; the ratio Dnv =Dn is kept constant in time. The system is forced by a given temporal law of the inlet discharge Qn ðtn Þ; derived by clinical data. The relative dynamics of the two degrees of freedom ventricle geometry is determined on the basis of a simple elastic wall modelling. The fluid flow is assumed to be axisymmetric. The problem is made dimensionless assuming as reference time scale T the heartbeat period. A reference inlet velocity U is the peak inlet mean velocity at the valve orifice; the reference lengthscale is then L ¼ UT ; and the unit mass is rL3 : Such choices allow an easy readability of results and immediate comparison with clinical data, being i.e. TC1 s and UC1 m=s: In what follows dimensionless quantities are considered. The equations to be solved are the Navier–Stokes and continuity equations @v 1 þ ðv rÞv ¼ rp þ r2 v; @t ReT ð1Þ r v ¼ 0; ð2Þ where v is the velocity vector, p the pressure, ReT ¼ U 2 T=n is the Reynolds number corresponding to the chosen units. The impenetrability and no-slip conditions at the wall give the fluid–structure interaction; the conditions at the inlet represent a model for the upstream atrial flow. The equations are expressed in a moving, boundaryfitted, prolate spheroid system of coordinates fm; Zg; whose relations with the standard cylindrical coordinates fr; zg are r ¼ dðtÞ sinhðaðtÞmÞ sin Z; z¼ dðtÞ coshðaðtÞmÞ cos Z (Baccani et al., 2002). The functions d and a are connected to the geometric properties by d ¼ ðH 2 D2 =4Þ1=2 ; a ¼ tanh1 ðD=2HÞ: In these coordinates, the flow domain is mA½0; 1 ZA½0; p=2; the ventricle wall corresponds to the coordinate curve m ¼ 1; the mitral plane is Z ¼ p=2; and the axis of symmetry is along the two coordinate curves m ¼ 0 and Z ¼ 0: The vector form (1) of the Navier–Stokes equations is split in its scalar components @vm 1 þ Cm þ Gm ðp; dÞ Dm ðvm ; vZ ; dÞ ¼ 0; ReT @t @vZ 1 þ CZ þ GZ ðp; dÞ DZ ðvm ; vZ ; dÞ ¼ 0; ReT @t 667 ð3Þ Cm ¼ CZ ¼ 1 @vm 1 @vm ðvm cm Þ þ ðvZ cZ Þ ah @m h @Z vZ @h vZ @h þ 2 ðvm cm þ mh’aÞ 2 ðvZ cZ Þ; h @Z ah @m 1 @vZ 1 @vZ ðvm cm Þ þ ðvZ cZ Þ ah @m h @Z vm @h vm @h 2 ðvm cm þ mh’aÞ þ 2 ðvZ cZ Þ; h @Z ah @m the cm ; cZ are the velocity components of the moving grid in the physical space ’ sinhðamÞ coshðamÞ þ m’ah; cm ¼ dd h ’ cos Z sin Z; cZ ¼ dd h the dot means time derivative, and the metric coefficient h ¼ dðcosh2 ðamÞ cos2 ZÞ1=2 : G and D are the gradient and Laplacian operators, respectively (Morse and Feshbach, 1953). The continuity constraint (2) is then imposed in the numerical method by the fractional-step technique. Eqs. (3) are completed by the symmetry and no-slip boundary conditions. At the inlet the entering velocity profile is automatically evaluated from the incompressibility of the fluid under the condition of irrotational entry flow, representing the properties of the incoming atrial flow. The flow inside the atrium accelerates to enter through the narrow mitral valve into the ventricle, the boundary layer is extremely thin because of the converging nature of the flow and of its unsteadiness. The flow in the ventricle is specified once the temporal variation of the two geometric parameters DðtÞ and HðtÞ is given. These can in principle be obtained from the computed transmural pressure by assuming an elastic model for the whole ventricle and by the knowledge of the time varying elastic properties; in addition the pressure time-law pðtÞ at the inlet must also be given. These data are not measured in routine clinical observations. In the present work, the coupled fluid– wall dynamics is not analysed; the wall motion is derived on the basis of a simple elastic model and from the knowledge of the inlet discharge QðtÞ which is the temporal variation of volume. For this purpose, the following relation: dD ð8H 2 D2 Þ dH ¼ D 4H 2 H ð4Þ is introduced. Formula (4) is obtained assuming that the ratio between deformations (not deformation itself ) can be taken from a simplified elastic membrane model, when the deformations are estimated from the membrane stresses at the equatorial plane (Baccani et al., 2002). Being the discharge Q ¼ dV =dt and V ¼ ðp=6ÞD2 H the ventricle volume, insertion of (4) gives an ordinary B. Baccani et al. / Journal of Biomechanics 35 (2002) 665–671 668 differential equation for the diameter 2 2 dD 6Q 8H D ¼ dt p 20H 3 D 2HD3 ð5Þ and, from (4), for the ventricle height HðtÞ: Based on these, the temporal evolution of the prolate spheroid parameters d and a can then be obtained. Relation (4) has the correct asymptotic behaviour of a sphere, that is dD=D ¼ dH=H; when D ¼ 2H; when HbD; a cylinder is reproduced, giving dD=D ¼ 2 dH=H: Relation (4) has been tested with one clinical data set showing errors that could not be separated from the measurement uncertainty. Given the available data and the possible large variation of real conditions, approximation (4) represents a simplest first approach to model the wall dynamics on the basis of the only knowledge of an inlet flow-rate and an initial condition for the ventricle geometry. The problem has been numerically solved in primitive variables, with finite differences, using a fractional step method on a face-centred staggered grid. An explicit third-order Runge–Kutta scheme has been used for time advancement, the spatial derivative are approximated with a second-order finite differences scheme. In order to obtain a better resolution close to the walls and in correspondence of the inlet edge, where large gradients are expected, stretched coordinates are adopted. A complete description of the mathematical formulation and of the numerical technique is given in Baccani et al. (2002). 3. Results Clinical observations show that the dilated cardiomyopathy is, in first instance, characterised by enhanced ventricle dimensions; modifications of the inflow timelaw are also detectable, and they become increasingly relevant when pathology grows worse (Garcia et al., 1998; Kaji et al., 2001, and references therein). In the present work, the inlet flow is kept constant when the ventricle diastolic volume is increased, in order to _4 x 10 6 E A 3 Q 0 _3 S _6 0 0.2 0.4 t 0.6 Fig. 1. Inlet flow rate. 0.8 1 investigate the influence of the ventricle dilatation only. The inlet discharge is adapted from clinical data and is reported in Fig. 1, it presents two maxima, the first corresponding to the early filling stage, E-wave, and a secondary, A-wave, given by the atrial contraction. The systolic phase, S, is here reproduced numerically, only to allow the observation after the end of diastole, simply by allowing the flow to exit from the whole equatorial plane. The dependence of the ventricle size on the different degrees of pathology has been modelled introducing the linear relations for the geometry at the end of the diastole D ¼ 0:04g þ D0 ; H ¼ H0 þ 0:02g; ð6Þ where D0 ¼ 0:05 and H0 ¼ 0:09 are the values for normal conditions (healthy, non-professional athlete); the numerical coefficient g in (6) has been adapted from clinical data and assumes values in the range between 0 and 1 depending on the ventricle dilatation. The cases g ¼ ½0; 0:25; 0:5; 0:75 have been studied here. Once the inflow is given, Fig. 1, the temporal law DðtÞ; and similarly HðtÞ; is evaluated integrating equation (5) with different initial condition, giving therefore different evolution of the ventricle geometry. The inlet unitary velocity at the peak of the E-wave is kept constant, fixing the same value of the valve diameter at this reference instant of time. The flow evolution in the healthy case, g ¼ 0; is first analysed in order to describe the typical features of the diastolic filling. The fluid is initially subjected to the Ewave strong accelerating phase; the presence of the mitral valve induces an almost instantaneous flow separation with the birth of an attached positive vortex sheet that immediately rolls-up into a wake vortex. This vortex induces an opposite sign boundary-layer vorticity at the ventricle wall, Fig. 2a at t ¼ 3=64: At the end of the accelerated phase, tC0:165; the boundary-layer vorticity sharply separates from the wall, the primary vortex is released from the valvular edge and begins to translate toward the ventricle apex, Fig. 2b. At this time a weaker newly formed vortex is created at the valve when the inflow decays to small values. Afterwards, the primary wake vortex translates inside the ventricle and reaches, during its decay, the apex; one instant of the vortex propagation process is reported in Fig. 2c at tC21=64: The subsequent dynamics presents a complex interaction between the detached vortices, and the superposition of the secondary filling wave, A-wave, with a weak new vortex at the mitral edge. A common measure in clinical practice is given by the time evolution of the axial velocity along a transmitral line in the centre of the ventricle. This is represented as a colour image, M-mode image, which gives an insight to the space-temporal flow pattern. This is shown in Fig. 3 in correspondence of the present simulation with B. Baccani et al. / Journal of Biomechanics 35 (2002) 665–671 669 0.02 0.01 0 0.01 0.02 (a) 0.02 Fig. 3. Space–time map of the axial velocity, g ¼ 0: Contour levels from 0:9 to 0:9; step 0:2; the estimation of the propagation velocity Vp ¼ 0:23 is shown by thick dashed line. 0.01 0 0.01 0.02 (b) 0.02 0.01 0 0.01 0.02 (c) 0.08 0.06 0.04 0.02 0 Fig. 2. Instantaneous vorticity and velocity fields, g ¼ 0 (healthy case); 3 6 (a) t ¼ 64 ; (b) t ¼ 64 ; (c) t ¼ 21 64: Vorticity levels: from 5 to 105; step 10 (black) and symmetric negative values (grey). contour lines superimposed. The main feature is represented by two well recognisable velocity traces. The first one develops during the initial accelerating phase, it is almost vertical and corresponds to the irrotational bulk flow entering into the ventricle during the E-wave. It presents a higher velocity at the mitral orifice and lower values into the wider, ventricle chamber. The second trace is given by the higher velocities found in correspondence of the primary vortex, after it has detached, during its translation toward the apex; a linear approximation of such a trace is reported in Fig. 3, thick dashed line. The slope of this line, therefore, represents the propagation velocity of the vortex during its initial dynamics, while the velocity decreases when the vortex approaches the apex, say after tC0:4: The slope has been estimated by using a best-fit procedure, once local extrema of the space–time map of the axial velocity have been found, giving a value Vp C0:24: The appearance of a pathological behaviour can be related to a different evolution of the primary vortex. In Fig. 4, the instantaneous fields, immediately before the primary vortex detachment from the valvular edge, are reported for the three cases analysed, g ¼ 0:25; 0:5; 0:75: The wake reduces its influence to the side wall when the ventricle is more dilated. It follows that the still attached primary wake vortex is able to elongate well inside the ventricle. Wake elongation increases at increasing values of g; it grows in size and remains attached to the mitral valve even during the decelerating phase of the E-wave. This pathological behaviour can be noticed from the M-mode representations given in Fig. 5. The first phase does not terminate at the E-wave inflow peak because the jet flow persists until the vortex remains attached to the valvular edge. It is well known that the dynamics of an attached vortex is completely different from that of a free vortex because the flux of vorticity changes its impulse (Pullin, 1978; Saffman, 1992). The initial almost vertical trace, which corresponds to an irrotational synchronous entry flow, is then curved by the decelerating translation of the attached vortex. Afterwards, when the vortex detaches, a smaller propagation velocity can be estimated before the vortex slows down near the apex. These effects are increasingly appreciable with growing dilatation of the ventricle, giving values of Vp ranging between 0:21 and 0:11; for g ¼ 0:25 and 0:75; respectively. 4. Discussion The flow dynamics inside the a model left ventricle has been analysed by an accurate numerical method under the assumptions of axisymmetric flow and fixed mitral valve. In the case of healthy conditions the flow is characterised by the generation of a wake vortex during the E-wave; it detaches from the valvular edge at the end of the accelerating phase because of the vortex induced boundary-layer separation. Afterwards, the vortex ring B. Baccani et al. / Journal of Biomechanics 35 (2002) 665–671 670 0.02 0 0.02 (a) 0.02 0 0.02 (b) Fig. 5. Space–time map of the axial velocity; (a) g ¼ 0:25; (b) g ¼ 0:5; (c) g ¼ 0:75: Contour levels from 0:9 to 0:9; step 0:2; the estimations of the propagation velocity Vp ¼ ½0:21; 0:15; 0:11; a to c, respectively, are shown by thick dashed lines. 0.02 0 0.02 (c) 0.1 0.08 0.06 0.04 0.02 0 Fig. 4. Instantaneous vorticity and velocity fields; (a) g ¼ 0:25 at t ¼ 15 20 22 64; (b) g ¼ 0:5 at t ¼ 64; (c) g ¼ 0:75 at t ¼ 64: Vorticity levels: from 5 to 105; step 10 (black) and symmetric negative values (grey). translates towards the apex by self-induced convection. This behaviour is well represented in a M-mode visualisation which shows the two traces corresponding to the initial synchronous inflow and the following vortex propagation. Such a dynamics is in general agreement with the experimental results by Steen and Steen (1994) and with the numerical outcomes of an analogous case by Vierendeels et al. (2000) despite some differences in the assumptions and in the modelling. The simulated pathological conditions, dilated ventricle with the same inflow time-profile, nearly corre- spond to a dilated cardiomyopathy, where the ventricle stiffness is moderately increased before the appearance of substantial modifications of the inflow pattern due to an increased preload. The wake vortex detaches from the valve at later times, presents increased intensity and reduced propagation velocity, and stagnates longer near the apex. From the physiopathologic point of view, the fluid stagnation may be related to the occurrence of apical thrombosis that frequently complicates dilated cardiomyopathy, particularly when an ischaemic heart disease causes an abnormal kinematic behaviour of the apical walls. A decrease of the propagation velocity has been recently validated as a reliable index of abnormal ventricular filling due to diastolic dysfunction of the left ventricle (Brun et al., 1992; Stugaard et al., 1994; Garcia et al., 1998). In the present work, the propagation velocity values are calculated in correspondence of the vortex travelling velocity. Usually cardiologists are not able to recognise the vortex pattern from unprocessed M-mode colour, and the flow propagation velocity is computed as the slope of the initial early B. Baccani et al. / Journal of Biomechanics 35 (2002) 665–671 filling trace when the vortex is still attached to the mitral valve. For this reason, much higher values of velocity propagation are typically reported, e.g. 0:570:1 (Garcia et al., 1998). The present M-mode pattern shows an initial almost vertical trace, a behaviour also observable in the previously cited experimental and numerical findings (Steen and Steen, 1994; Vierendeels et al., 2000). A possible explanation can be imputable to the assumption of a fixed mitral geometry which does not take into account the valve opening dynamics which surely influences the initial acceleration phase. 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