- •Contents
- •Contributors
- •Preface
- •1 Introduction, with the biological basis for cell mechanics
- •Introduction
- •The role of cell mechanics in biological function
- •Maintenance of cell shape
- •Cell migration
- •Mechanosensing
- •Stress responses and the role of mechanical forces in disease
- •Active cell contraction
- •Structural anatomy of a cell
- •The extracellular matrix and its attachment to cells
- •Transmission of force to the cytoskeleton and the role of the lipid bilayer
- •Intracellular structures
- •Overview
- •References
- •2 Experimental measurements of intracellular mechanics
- •Introduction
- •Forces to which cells are exposed in a biological context
- •Methods to measure intracellular rheology by macrorheology, diffusion, and sedimentation
- •Whole cell aggregates
- •Sedimentation of particles
- •Diffusion
- •Mechanical indentation of the cell surface
- •Glass microneedles
- •Cell poker
- •Atomic force microscopy
- •Mechanical tension applied to the cell membrane
- •Shearing and compression between microplates
- •Optical traps
- •Magnetic methods
- •Twisting of magnetized particles on the cell surface and interior
- •Passive microrheology
- •Optically detected individual probes
- •One-particle method
- •Two-particle methods
- •Dynamic light scattering and diffusing wave spectroscopy
- •Fluorescence correlation spectroscopy
- •Optical stretcher
- •Acoustic microscopy
- •Outstanding issues and future directions
- •References
- •3 The cytoskeleton as a soft glassy material
- •Introduction
- •Magnetic Twisting Cytometry (MTC)
- •Measurements of cell mechanics
- •The structural damping equation
- •Reduction of variables
- •Universality
- •Scaling the data
- •Collapse onto master curves
- •Theory of soft glassy rheology
- •What are soft glassy materials
- •Sollich’s theory of SGMs
- •Soft glassy rheology and structural damping
- •Open questions
- •Biological insights from SGR theory
- •Malleability of airway smooth muscle
- •Conclusion
- •References
- •4 Continuum elastic or viscoelastic models for the cell
- •Introduction
- •Purpose of continuum models
- •Principles of continuum models
- •Boundary conditions
- •Mechanical and material characteristics
- •Example of studied cell types
- •Blood cells: leukocytes and erythrocytes
- •Limitations of continuum model
- •Conclusion
- •References
- •5 Multiphasic models of cell mechanics
- •Introduction
- •Biphasic poroviscoelastic models of cell mechanics
- •Analysis of cell mechanical tests
- •Micropipette aspiration
- •Cells
- •Biphasic properties of the pericellular matrix
- •Indentation studies of cell multiphasic properties
- •Analysis of cell–matrix interactions using multiphasic models
- •Summary
- •References
- •6 Models of cytoskeletal mechanics based on tensegrity
- •Introduction
- •The cellular tensegrity model
- •The cellular tensegrity model
- •Do living cells behave as predicted by the tensegrity model?
- •Circumstantial evidence
- •Prestress-induced stiffening
- •Action at a distance
- •Do microtubules carry compression?
- •Summary
- •Examples of mathematical models of the cytoskeleton based on tensegrity
- •The cortical membrane model
- •Tensed cable nets
- •Cable-and-strut model
- •Summary
- •Tensegrity and cellular dynamics
- •Conclusion
- •Acknowledgement
- •References
- •7 Cells, gels, and mechanics
- •Introduction
- •Problems with the aqueous-solution-based paradigm
- •Cells as gels
- •Cell dynamics
- •Gels and motion
- •Secretion
- •Muscle contraction
- •Conclusion
- •Acknowledgement
- •References
- •8 Polymer-based models of cytoskeletal networks
- •Introduction
- •The worm-like chain model
- •Force-extension of single chains
- •Dynamics of single chains
- •Network elasticity
- •Nonlinear response
- •Discussion
- •References
- •9 Cell dynamics and the actin cytoskeleton
- •Introduction: The role of actin in the cell
- •Interaction of the cell cytoskeleton with the outside environment
- •The role of cytoskeletal structure
- •Actin mechanics
- •Actin dynamics
- •The emergence of actin dynamics
- •The intrinsic dynamics of actin
- •Regulation of dynamics by actin-binding proteins
- •Capping protein: ‘decommissioning’ the old
- •Gelsolin: rapid remodeling in one or two steps
- •β4-thymosin: accounting (sometimes) for the other half
- •Dynamic actin in crawling cells
- •Actin in the leading edge
- •Monomer recycling: the other ‘actin dynamics’
- •The biophysics of actin-based pushing
- •Conclusion
- •Acknowledgements
- •References
- •10 Active cellular protrusion: continuum theories and models
- •Cellular protrusion: the standard cartoon
- •The RIF formalism
- •Mass conservation
- •Momentum conservation
- •Boundary conditions
- •Cytoskeletal theories of cellular protrusion
- •Network–membrane interactions
- •Network dynamics near the membrane
- •Special cases of network–membrane interaction: polymerization force, brownian and motor ratchets
- •Network–network interactions
- •Network dynamics with swelling
- •Other theories of protrusion
- •Numerical implementation of the RIF formalism
- •An example of cellular protrusion
- •Protrusion driven by membrane–cytoskeleton repulsion
- •Protrusion driven by cytoskeletal swelling
- •Discussion
- •Conclusions
- •References
- •11 Summary
- •References
- •Index
The cytoskeleton as a soft glassy material |
59 |
G ′ [Pa]
104
103
102
101
100
10-1 100 |
101 |
102 103 |
104 |
105 106 |
f [Hz]
Fig. 3-7. G vs. frequency in kidney epithelial cells measured with laser tracking microrheology under control conditions ( ), and after 15 min. treatment with Latrunculin A [1 × 10−6 M] ( ). Solid lines are the fit of Eq. 3.2 to the data, with x = 1.36 under control conditions, and x = 1.5 after Latrunculin A treatment. These lines crossed at G0 = 5.48 kPa and 0 = 6.64 105 Hz. Adapted from Yamada, Wirtz et al., 2000.
Fabry et al., 2000; Yamada, Wirtz et al., 2000; Alcaraz, Buscemi et al., 2003). Using laser tracking microrheology, Yamada, Wirtz et al. also measured cell mechanics before and after microfilaments were disrupted with Latrunculin A, and obtained two curves of G vs. f that intersected at a frequency comparable to the value we measured with our magnetic twisting technique, as shown in Fig. 3-7 (Yamada, Wirtz et al., 2000).
Finally, power-law behavior in the frequency domain (Eq. 3.2) corresponds to power-law behavior in the time domain (Eq. 3.1): when we measured the creep modulus of the cells by applying a step change of the twisting field, we did indeed find power-law behavior of the creep modulus vs. time, and a common intersection of the data at a very short time (Lenormand, Millet et al., 2004).
Scaling the data
Not surprisingly, although structural damping behavior always prevailed, substantial differences were observed in the absolute values of our G and G measurements between different cell lines, and even larger (up to two orders of magnitude) differences when different bead coatings were used (Fabry, Maksym et al., 2001; Puig-de-Morales, Millet et al., 2004). Still larger (up to three orders of magnitude) differences were observed between individual cells of the same type even when they were grown within the same cell well (Fabry, Maksym et al., 2001). It is difficult to specify to what extent such differences reflect true differences in the “material” properties between different cells or between different cellular structures to which the beads are attached, vs. differences in the geometry (cell height, contact area between cell and bead, and so forth). Theoretically, these geometric details could be measured and then modeled, but in practice such measurements and models are inevitably quite rough (Mijailovich, Kojic et al., 2002).
Rather than analyzing “absolute” cell mechanics, it is far more practical (and insightful, as shown below) to focus attention instead upon relative changes in cell
60J. Fredberg and B. Fabry
mechanics. To first order, such relative changes are independent of bead-cell geometry. Thus, the measurements need to be normalized or scaled appropriately such that each cell serves as its own control.
Two such scaled parameters have already been introduced. The first one is the slope of the power-law relationship (x − 1), which is the log change in G or G per fre-
quency decade (for example, the ratio of G10 Hz/G1 Hz). The second scaled parameter is the hysteresivity η, which is the ratio between G and G at a single frequency.
Both scaling procedures cause factors (such as bead-cell geometry) that equally affect the numerator and denominator of those ratios to cancel out. Moreover, both scaling procedures can be performed on a bead-by-bead basis. The bead-by-bead
variability of both x and η are negligible when compared with the huge variability in G (Fabry, Maksym et al., 2001; Fabry, Maksym et al., 2001).
A third scaling parameter is the normalized stiffness Gn , which we define as the ratio between G (measured at a given frequency, say 0.75 Hz) and G0 (the intersection of the G vs. f curves from different drug treatments, Fig. 3-5). Here, G0 serves as an internal stiffness scale that is characteristic for each cell type and for each bead
coating (receptor-ligand interaction), but that is unaffected by drug treatments. Thus, the normalized stiffness Gn allows us to compare the drug-induced responses of cells under vastly different settings, such as different bead coating, and so on.
Collapse onto master curves
The data were normalized as follows. We estimated x from the fit of Eq. 3.2 to the pooled (median over many cells) G and G data. The hysteresivity η was estimated from ratio of G /G measured at 0.75 Hz (an arbitrary choice). The normalized cell
stiffness Gn was estimated as G measured at 0.75 Hz divided by g0. log Gn vs. x and η vs. x graphs were then plotted (Fig. 3-8).
In human airway smooth muscle (HASM) cells, we found that drugs that increased x caused the normalized stiffness Gn to decrease (Fig. 3-8a, black symbols). The relationship between log Gn and x appears as nearly linear: ln Gn −x. The solid line in Fig. 3-8a is the prediction from the structural damping equation under the condition of a common intersection of all G data at radian frequency 0:
ln Gn = (x − 1) ln (ω/ 0). |
(3.3) |
How close the normalized data fell to this prediction thus indicates how well a common intersection can account for those data.
Conversely, drugs that increased x caused the normalized frictional parameter η to increase (Fig. 3-8b, black symbols). The solid line in Fig. 3-8b is the prediction from (and not a fit of) the structural damping equation:
η = tan (x − 1)π/2. |
(3.4) |
How close the normalized data fell to this prediction thus indicates how well the structural damping equation can account for those data.
Surprisingly, the normalized data for the other cell types collapsed onto the very same relationships that were found for HASM cells (Fig. 3-8). In all cases, drugs that increased x caused the normalized stiffness Gn to decrease and hysteresivity η to
The cytoskeleton as a soft glassy material |
61 |
|
|
(a) |
(b) |
1 |
0.8 |
|
n |
10-1 |
|
η |
||
G |
||
|
10-2 |
10-3
1 1.1 1.2 1.3 1.4
0.6
0.4
0.2
0
1 1.1 1.2 1.3 1.4
x x
Fig. 3-8. Normalized stiffness Gn vs. x (left) and hysteresivity η (right) vs. x, of HASM cells (black, n = 256), human bronchial epithelial cells (light gray, n = 142), mouse embryonic carcinoma cells (F9) cells (dark gray, n = 50), mouse macrophages (J774A.1) (hatched, n = 46) and human neutrophils (gray, n = 42) under control conditions ( ), treatment with histamine ( ), FMLP ( ), DBcAMP ( ) and cytochalasin D ( ). x was obtained from the fit of Eq. 3.2 to the pooled (median) data. Drugs that increased x caused the normalized stiffness Gn to decrease and hysteresivity η to increase, and vice versa. The normalized data for all types collapsed onto the same relationships. The structural damping equation by Eq. 3.2 is depicted by the black solid curves: ln Gn = (x − 1) ln(ω/ 0) with 0 = 2.14 × 107 rad/s, and η¯ = tan((x − 1)π/2). Error bars indicate ± one standard error. If x is taken to be the noise temperature, then these data suggest that the living cell exists close to a glass transition and modulates its mechanical properties by moving between glassy states that are “hot,” melted and liquid-like, and states that are “cold,” frozen and solid-like. In the limit that x approaches 1 the system behaves as an ideal Hookean elastic solid, and in the limit that x approaches 2 the system behaves as an ideal Newtonian fluid (Eq. 3.2). From Fabry, Maksym et al., 2003.
increase. These relationships thus represent universal master curves in that a single parameter, x, defined the constitutive elastic and frictional behaviors for a variety of cytoskeletal manipulations, for five frequency decades, and for diverse cell types.
The normalized data from all cell types and drug treatments fell close to the predictions of the structural damping equation (Fig. 3-8). In the case of the η vs. x data (Fig. 3-8b), this collapse of the data indicates that the coupling between elasticity and friction, and their power-law frequency dependence, is well described by the structural damping equation. In the case of the log Gn vs. x data (Fig. 3-8a), the collapse of the data indicates that a common intersection of the G vs. f curves exists for all cell types, and that this intersection occurs approximately at the same frequency 0.
Rigorous statistical analysis of the data from many different cell types has thus far supported the existence of a common intersection of the G vs. f relationships measured after treatment with a large panel of cytoskeletally active drugs (Laudadio, Millet et al., 2005). This holds true regardless of the receptor-ligand pathway that was used to probe cell rheology (Puig-de-Morales, Millet et al., 2004). The same statistical analysis, however, hints that the crossover frequency 0 may not be the same for all cell types and receptor-ligand pathways. Unfortunately, so far 0 cannot be measured with high-enough accuracy to resolve such differences. Thus for all practical purposes we can regard 0 as being the same for all cell types and for all receptor-ligand combinations (Fabry, Maksym et al., 2003; Puig-de-Morales, Millet et al., 2004).
The structural damping relationship has long been applied to describe the rheological data for a variety of biological tissues (Weber, 1835; Kohlrausch, 1847; Fung,