If you are able to apply hex mesh to your geometry (so basically, if it can be extruded, revolved, swept, thickened from a surface in its local normal directions, or divided into subvolumes having 5 or 6 faces with 3 or 4 edges each), then it would be the best option. It makes modeling such interfaces (especially cylindrical) so much easier - smooths the contact pressure, facilitates contact or tie constraint establishment, and so on. Usually, first-order elements are better for contact, too, and linear hexes are perfectly usable if there are enough of them. Such meshes are pretty much a must in interference fit modeling (which might be applicable to such biomedical problems as well).
This thread describes hex meshing in PrePoMax: Summary of Gmsh hex meshing rules
But the same rules are also listed in the user manual. There are some YouTube tutorials about these meshing algorithms, too (linked in the manual).