Lengthening of double-looped tendon graft constructs in three regions after cyclic loading: a study using Roentgen stereophotogrammetric analysis

Lengthening of a double-looped tendon graft construct used to reconstruct the anterior cruciate ligament (ACL) can result in an increase in anterior knee laxity and affect the stability of the reconstructed knee. Three possible regions where lengthening of the construct can occur are (1) the region of the tibial fixation, (2) the region of the femoral fixation, and (3) the region of the graft between the fixations. One objective of this study was to demonstrate the feasibility of using Roentgen stereophotogrammetric analysis (RSA) to determine the lengthening in each region of a double-looped graft construct subjected to cyclic loading. A second objective was to determine which region(s) contributes most to an increase in length of this graft construct. Radio-opaque markers were attached to ten grafts to measure the lengthening in each of the three regions. Each graft was passed through a tibial tunnel in a bovine tibia, looped around a rigid cross-pin, and fixed to the tibia with a Washerloc fixation device. The grafts were cyclically loaded for 225,000 cycles from 20 to 170 N. Prior to and at intervals during the cyclic loading, simultaneous radiographs were taken of the tibia and graft. RSA was used to determine the 3-dimensional coordinates of the markers from which the lengthening in each region was computed at each interval. The regions of the tibial and femoral fixations were the largest contributors to the increase in length of the graft, with maximum average values of 0.91 and 0.76 mm respectively after 225,000 cycles. The region between the fixations contributed least to lengthening of the graft, with a maximum average value of 0.23 mm. More than 90% of the lengthening in each region occurred before 100,000 cycles of loading. RSA proved to be a useful method for measuring lengthening in all three regions of the graft construct. Lengthening of the graft construct in both regions of fixation is sufficiently large that the combined contributions may cause a recurrence of instability in some knees.

Design of hearing aid shells by three dimensional laser scanning and mesh reconstruction

Hearing aid shells (or earmolds) must couple the hearing aid with the user's ear. Earmolds have to fit the subject's outer ear canal properly to ensure a good performance of the aid. Because of the great variability in the anatomical pattern of the ear, earmolds are custom made. At present, an impression of the subject's ear canal is taken and used to fabricate the silicon-made mold. The postimpression activities that typically are performed during the fabrication process modify the physical dimensions of the resulting earmold and thus affect the fit of the product. A novel system for 3-D laser scanning and mesh reconstruction of the surface of ear canal impressions is presented. The reconstructed impression can be digitally stored and passed directly to dedicated CAD 3-D printing machines to model the silicon earmold and thus achieve the best possible fit. The proposed system is based on a couple of cameras and a commercial laser for the surface digitization and on a straightforward algorithm, based on the deformation of a geometric model, for the reconstruction of the acquired surface. Measurements on objects of well-known geometric features and dimensions are performed to assess the accuracy and repeatability levels of this 3-D acquisition system. Robustness to noise of the proposed reconstruction algorithm is determined by simulations with a synthetic test surface. Finally, the first measurements (acquisition+reconstruction) of closed surfaces from ear canal impressions are reported.

A Calibration Method Used for Volumetric Measurement of Orthodontically Induced Root Resorption Craters

The aim of this study was to measure the accuracy and reproducibility of volumetric estimations obtained by a commercial software used to measure resorption craters induced by orthodontic forces. Twenty human first maxillary premolars were selected and divided into light and heavy force groups with 25 and 225 g of force applied to the upper-right first premolars, respectively. The contralateral teeth served as controls. Samples were extracted and prepared for SEM stereoimaging after 28 days of force application. Volumetric measurements of these resorption craters were generated by the software. Standardized pyramidal indentations by the Vickers microhardness tester on four solid metallic cylindrical rods (brass, copper, stainless steel, and aluminum) similar to the dimensions of human premolars were used for calibration. Mathematically calculated volumes of these indentations were compared to volumes estimated by the software. The software estimated the errors of volumes of pyramidal indentations of the harder and softer materials to within 11 and 19%, respectively. Non-uniform plastic deformation that occurred in softer materials during indentation distorts the calculated results. The estimates obtained by the software even for distorted indentations caused by non-uniform plastic deformation have high degrees of reproducibility and accuracy.

Validation of the relative 3D orientation of vertebrae reconstructed by bi-planar radiography

The three dimensional (3D) reconstruction of the spine can be obtained by stereoradiographic techniques. To be safely used on a routine clinics basis, stereoradiography must provide both accurate vertebral shape and coherent position. Although the accuracy of the reconstructed morphology of the vertebrae is well documented, only few authors studied the accuracy of the vertebral orientation. Therefore, this paper focuses on the evaluation of the orientation accuracy of the reconstructed vertebrae (obtained by non-stereo corresponding point technique) considering either a 178 point vertebral model or a 6 point vertebral model (previously proposed in the literature). Five dried vertebrae were fixed on holders containing four markers each. The 3D reconstruction of both vertebrae and markers were obtained by stereoradiographic techniques. Using least square method matching from one position to another, the relative orientation was computed for the vertebral models (6 or 178 points) and the four markers. These vertebral and holder orientations were compared (considering the holder's one as reference). The repeatability of these relative orientations (vertebrae and holders) was also evaluated. The mean (RMS) orientation error of 178 point vertebral model was 0.6 degrees (0.8 degrees ), for lateral rotation, 0.7 degrees (1.0 degrees ) for sagittal rotation and 1.4 degrees (1.9 degrees ) for axial rotation. The intra-observer repeatability was 0.5 degrees (0.7 degrees ) for lateral rotation, 0.7 degrees (0.8 degrees ) for sagittal rotation and 0.9 degrees (1.2 degrees ) for axial rotation. The orientation was found more accurate and precise when using the 178 point vertebral model than when using the basic 6 point vertebral model. The relative orientation (in post-operative follow-up with respect to the pre-operative examination) of the vertebrae of one scoliotic patient was performed as an example of clinical application. The stereoradiographic method is a reliable 3D quantitative tool to assess the spine deformity, that can be used in clinics for the follow-up of scoliotic patients.

[Three-dimensional reconstruction on facial soft tissue using three-dimensional grating projection technique]

PURPOSE

The purpose of this study is to establish a method to reconstruct the facial soft tissue three-dimensionally.

METHODS

By ATOS three-dimensional opticalmetry, which used in industry, 3D data on facial profile of a patient with mandibular hyperplasia was achieved quickly.

RESULTS

Three-dimensional data of facial profile was accurate and the images were reconstructed with verisimilitude.

CONCLUSIONS

Traditional device of grating projection was modified by using two CCD cameras to obtain grating images.3D data on facial profile were achieved quickly and accurately.

Geometrical effects of positional errors in integral photography

The effects of misarrangement of elements (elemental lenses and elemental images) that construct three-dimensional (3-D) images in integral photography are presented. If the lens arrays of the capturing system and the display system are not aligned accurately, positional errors of elements may occur, causing the 3-D image to be reconstructed in an incorrect position. The relation between positional errors of elements and the reconstructed image is derived. As a result, it is shown that a 3-D image is separated by local positional errors and blurred by global positional errors. In both local and global positional errors, 3-D images reconstructed far from the lens array are greatly affected.

Three-dimensional localization of cochlear implant electrodes using epipolar stereophotogrammetry

Three-dimensional (3-D) localization of individual cochlear implant electrodes within the inner ear is of importance for modeling the electrical field of the cochlea, designing the electrode array, and programming the associated speech processor. A 3-D reconstruction method of cochlear implant electrodes is proposed to localize individual electrodes from two X-ray views in combination with the spiral computed tomography technique. By adapting epipolar geometry to the configuration of an X-ray imaging system, we estimate individual electrode locations in the least square sense without using a patient attachment required by an existing stereophotogrammetry technique. Furthermore, our method does not require any knowledge of the intrinsic and extrinsic parameters of the imaging system. The performance of our method is studied in numerical simulation and with patient data and is found to be sufficiently accurate for clinical use. The maximum root mean-square errors measured are 0.0445 and 0.214 mm for numerical simulation and patient data, respectively.

Invariant fitting of two view geometry

This paper describes an extension of Bookstein's and Sampson's methods, for fitting conics, to the determination of epipolar geometry, both in the calibrated case, where the Essential matrix E is to be determined or in the uncalibrated case, where we seek the fundamental matrix F. We desire that the fitting of the relation be invariant to Euclidean transformations of the image, and show that there is only one suitable normalization of the coefficients and that this normalization gives rise to a quadratic form allowing eigenvector methods to be used to find E or F, or an arbitrary homography H. The resulting method has the advantage that it exhibits the improved stability of previous methods for estimating the epipolar geometry, such as the preconditioning method of Hartley, while also being invariant to equiform transformations.

High-resolution 3-D shape integration of dentition and face measured by new laser scanner

Face and dentition were measured using a high-resolution three-dimensional laser scanner to circumvent problems of radiation exposure and metal-streak artifacts associated with X-ray computed tomography. The resulting range data were integrated in order to visualize the dentition relative to the face. The acquisition interval for dentition by laser scanner was 0.18 mm, and complicated morphologies of the occlusal surface could be sufficiently reproduced. Reproduction of occlusal condition of upper and lower dentitions was conducted by matching the surface of the occlusal impression record with upper dentition data. To integrate dentition and face, a marker plate interface was devised and adopted on the lower dental cast or by the subject directly. Integration was performed by matching both sets of interface data. Reproduction of the occlusal condition and integration of the dentition and face were accomplished and visualized satisfactorily by computer graphics. The integration accuracy was examined by changing the attachment angle of the marker plate, and the marker plate attached at 45 degrees showed the smallest error of 0.2 mm. The current noninvasive method is applicable to clinical examination, diagnosis and explanation to the patient when dealing with the physical relationship between face and dentition.

Roll-over shapes of human locomotor systems: effects of walking speed

OBJECTIVE

To examine the hypothesis that roll-over shapes of non-disabled lower limb systems do not change appreciably with walking speed.

DESIGN

Repeated measures (n = 24).

BACKGROUND

Roll-over shapes of three lower limb systems are presented. They are: roll-over shapes of the (1) foot, (2) ankle-foot, and (3) knee-ankle-foot systems. Roll-over shapes show the effective rocker (or cam) shapes that the lower limb systems conform to during the period in the stance phase of walking between heel contact and opposite heel contact.

METHODS

Roll-over shapes were measured by transforming center of pressure data from a laboratory-based coordinate system into each of three body-based coordinate systems. Knee-ankle-foot roll-over shapes were further characterized using a circular arc model.

RESULTS

From a statistical standpoint, the radii of the best-fit circular arcs did not change significantly with walking speed, while the forward shifts of the circular models did change significantly. However, the change in forward shift was not considered to be clinically significant.

CONCLUSIONS

The biologic systems involved in developing the roll-over shapes adapt to changing conditions of walking speed, including increased loading amplitudes as speed is increased, to maintain similar effective roll-over geometries.

RELEVANCE

Roll-over shapes provide insight into the workings of various lower limb systems by taking a new look at existing gait data. This insight could provide broad utility, helping to develop a better understanding of able-bodied and disabled human walking, and leading to the design of improved rehabilitation devices, surgeries, and therapies.

Quantitative evaluation of severity in psoriatic lesions using three-dimensional morphometry

The severity of psoriasis has been traditionally assessed by measures, such as the psoriasis area and severity index (PASI), the psoriasis severity scores, and the lesional severity scores. As a result, even experienced dermatologists show variations when attempting to determine the severity of psoriasis. Therefore, a better non-invasive and objective measurement of clinical signs is needed. In this study, an instrument, a so-called 'stereoimage optical topometer' (SOT), based on a new concept of 'stereoimaging' was used to measure the three-dimensional skin surface. The aim of this study was to compare the results obtained by the SOT with the visual score of psoriasis lesion. Thirty psoriatic patients were enrolled in this study. Initially, the severity of the infiltration and the scale of 134 psoriatic lesions were assessed by using a visual scoring system (0: none, 1: mild, 2: moderate, 3: severe, and 4: very severe), as scored by five dermatologists. The SOT was then used to quantify the severity of each psoriatic lesion using four three-dimensional SOT parameters (Sa, SL, SA, and SV). Secondly, the involved skin-surface area in the psoriasis cases was scored by the naked eye by the five dermatologists and by image analysis. Statistically significant differences were observed between grades 0, 1, 2, and 3 in terms of the severity measurements of the individual psoriatic lesions by SOT when using the parameters Sa, SL, SA, and SV. Therefore, it was concluded that there is a strong correlation between the results measured by visual scoring and by SOT in psoriasis.

How Cyclic Loading Affects the Migration of Radio-Opaque Markers Attached to Tendon Grafts Using a New Method: A Study Using Roentgen Stereophotogrammetric Analysis (RSA)

An increase in anterior laxity following reconstruction of the anterior cruciate ligament (ACL) can result from lengthening of the graft construct in either the regions of fixation and/or the region of the graft substance between the fixations. RSA could be a useful technique to determine lengthening in these regions if a method can be devised for attaching radio-opaque markers to soft tissue grafts so that marker migration from repeated loading of the graft is limited. Therefore, the objectives of this study were 1) to develop a method for attaching radio-opaque markers to an ACL graft that limits marker migration within the graft, 2) to characterize the error of an RSA system used to study migration, and 3) to determine the maximum amount of migration and the time when it occurs during cyclic loading of ACL grafts. Tendon markers were constructed from a 0.8-mm tantalum ball and a stainless steel suture. Ten double-looped tendon grafts were passed through tibial tunnels drilled in bovine tibias and fixed with a tibial fixation device. Two tendon markers were sewn to one tendon bundle of each graft and the grafts were cyclically loaded for 225,000 cycles from 20 N to 170 N. At specified intervals, simultaneous radiographs were obtained of the tendon markers and a radiographic standard of known length. The bias and imprecision in measuring the length of the radiographic standard were 0.0 and 0.046 mm respectively. Marker migration was computed as the change in distance between the two tendon markers along the axis of the tibial tunnel. Marker migration was greatest after 225,000 cycles with a root mean square (RMS) value of less than 0.2 mm. Because the RMS value indicates the error introduced into measurements of lengthening and because this error is small, the method described for attaching markers to an ACL graft has the potential to be useful for determining lengthening of ACL graft constructs in in vivo studies in humans.

Facial characterization of infants with cleft lip and palate using a three-dimensional capture technique

OBJECTIVE

To characterize the soft tissue features of infants with unilateral cleft lip (UCL) and unilateral complete cleft lip and palate (UCLP) prior to primary surgery and compare with noncleft controls.

DESIGN

Prospective controlled capture of the facial morphology of infants using a noninvasive three-dimensional stereophotogrammetry method.

PARTICIPANTS

23 children with presurgical cleft: 11 UCL (M = 6, F = 5); 12 UCLP (M = 9, F = 3), and 21 noncleft controls (M = 7, F = 14) were imaged at approximately 3 months of age (range 10 to 16 weeks).

MAIN OUTCOME MEASURE

Accurate, repeatable quantification of facial soft tissues in infants with clefts prior to surgery.

RESULTS

Significant differences (p <.05) were found between the UCLP group and UCL and control groups in anatomical and soft nose width, cleft-side alar wing length, and nasal tip horizontal displacement. Both cleft groups were significantly different from controls and from each other in cleft-side nostril dimensions, alar wing angulation, columella angle, and alar base to corner of mouth dimension; alar base width; and soft tissue defect in nose and the lip and philtrum length bordering the cleft. Significant differences between clefts and controls were identified in the nostril and philtrum on the noncleft side.

CONCLUSIONS

The use of children with UCL as controls for UCLP studies is inappropriate. This technique overcame the limitations of direct measurement of infant faces to aid the surgeon in the planning and subsequent re-evaluation of surgical rationale.

Sampling the disparity space image

A central issue in stereo algorithm design is the choice of matching cost. Many algorithms simply use squared or absolute intensity differences based on integer disparity steps. In this paper, we address potential problems with such approaches. We begin with a careful analysis of the properties of the continuous disparity space image (DSI) and propose several new matching cost variants based on symmetrically matching interpolated image signals. Using stereo images with ground truth, we empirically evaluate the performance of the different cost variants and show that proper sampling can yield improved matching performance.

Roentgen stereophotogrammetric analysis of the Birmingham hip resurfacing arthroplasty

The Birmingham hip resurfacing (BHR) arthroplasty is a metal-on-metal prosthesis for which no medium- or long-term results have been published. Despite this, it is increasing in popularity as an alternative to stemmed prostheses for younger patients. Since the fixation of the socket is conventional, the major concern is long-term failure of the femoral component. This can be predicted by the use of roentgen stereophotogrammetric analysis (RSA). We have therefore undertaken such a study of the BHR femoral component over a period of two years.

Twenty patients (22 hips) underwent a standard BHR procedure. Migration of the femoral component was measured by RSA at intervals of three, six, 12 and 24 months. At 24 months the total three-dimensional migration of the head was 0.2 mm. This was not statistically significant. Previous studies have shown that implants which loosen quickly have rapid early migration. Our results therefore suggest that the BHR femoral component is an inherently stable device which is likely to perform well in the long term.

Incremental penetration depth estimation between convex polytopes using dual-space expansion

We present a fast algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a "locally optimal solution" by walking on the surface of the Minkowski sums. The surface of the Minkowski sums is computed implicitly by constructing a local dual mapping on the Gauss map. We also present three heuristic techniques that are used to estimate the initial features used by the walking algorithm. We have implemented the algorithm and compared its performance with earlier approaches. In our experiments, the algorithm is able to estimate the penetration depth in about a milli-second on an 1 GHz Pentium PC. Moreover, its performance is almost independent of model complexity in environments with high coherence between successive instances.

Tooth segmentation of dental study models using range images

The accurate segmentation of the teeth from the digitized representation of a dental study model is an important component in computer-based algorithms for orthodontic feature detection and measurement and in the simulation of orthodontic procedures such as tooth rearrangement. This paper presents an automated method for tooth segmentation from the three-dimensional (3-D) digitized image captured by a laser scanner. We avoid the complexity of directly processing 3-D mesh data by proposing the innovative idea of detecting features on two range images computed from the 3-D image. The dental arch is first obtained from the plan-view range image. Using the arch as the reference, a panoramic range image of the dental model can be computed. The interstices between the teeth are detected separately in the two range images, and results from both views are combined for a determination of interstice locations and orientations. Finally, the teeth are separated from the gums by delineating the gum margin. The algorithm was tested on 34 dental models representing a variety of malocclusions and was found to be robust and accurate.

Estimation of the centre of rotation: a methodological contribution

The location of the centre of rotation of human joints that can be modelled as a spherical hinge can be estimated using kinematics information about the two adjacent bony segments involved recorded while the subject makes them move one relative to the other (functional method). In order to solve the relevant analytical problem, several algorithms have been proposed. Most recently, two methods, one based on a spherical best-fit approach and another based on the Reuleaux construction, have been presented as being different and submitted to comparative evaluation. This paper modifies the second method taking all information in the data set into account and shows that, having done this, the two methods coincide analytically.

The role of misorientation and phosphorus content on grain growth and intergranular fracture in iron-carbon-phosphorus alloys

The relationship between the crystallography of intergranular fracture and phosphorus segregation has been investigated in a Fe-0.06wt%P-0.002wt%C alloy aged for 1 h at temperatures between 600 degrees C and 1000 degrees C. Two novel techniques were devised for the investigation: first, electron back-scatter diffraction (EBSD) across the reconstructed fracture surface and, second, a combination of Auger electron spectroscopy, stereophotogrammetry and microscopy to measure phosphorus and carbon on fracture facets combined with EBSD measurements direct from the fracture surface. In total, 700 misorientations were measured from across the reconstructed fracture surface and in 'control' areas away from the fracture. It was found that Sigma 3s were in general more resistant to brittle fracture than were random boundaries, and it was suggested that alloys of this type could be grain boundary engineered to improve fracture resistance by a short anneal in the austenite region to increase the final proportion of Sigma 3s. Sixteen fracture facets yielded combined Auger/EBSD data. The combined Auger/EBSD methodology to acquire joint crystallographic and segregation information from facets was shown to be feasible, although laborious. There were significantly more [110] planes than any other type in the sample population of facets from which combined segregation/crystallography data had been collected. The data suggested that there was on average lower phosphorus segregation on fracture facets that were near [110] than on other intergranular fracture facets.

From FNS to HEIV: a link between two vision parameter estimation methods

Problems requiring accurate determination of parameters from image-based quantities arise often in computer vision. Two recent, independently developed frameworks for estimating such parameters are the FNS and HEIV schemes. Here, it is shown that FNS and a core version of HEIV are essentially equivalent, solving a common underlying equation via different means. The analysis is driven by the search for a nondegenerate form of a certain generalized eigenvalue problem and effectively leads to a new derivation of the relevant case of the HEIV algorithm. This work may be seen as an extension of previous efforts to rationalize and interrelate a spectrum of estimators, including the renormalization method of Kanatani and the normalized eight-point method of Hartley.

Automatic Sensor Placement for Model-Based Robot Vision

This paper presents a method for automatic sensor placement for model-based robot vision. In such a vision system, the sensor often needs to be moved from one pose to another around the object to observe all features of interest. This allows multiple three-dimensional (3-D) images to be taken from different vantage viewpoints. The task involves determination of the optimal sensor placements and a shortest path through these viewpoints. During the sensor planning, object features are resampled as individual points attached with surface normals. The optimal sensor placement graph is achieved by a genetic algorithm in which a min-max criterion is used for the evaluation. A shortest path is determined by Christofides algorithm. A Viewpoint Planner is developed to generate the sensor placement plan. It includes many functions, such as 3-D animation of the object geometry, sensor specification, initialization of the viewpoint number and their distribution, viewpoint evolution, shortest path computation, scene simulation of a specific viewpoint, parameter amendment. Experiments are also carried out on a real robot vision system to demonstrate the effectiveness of the proposed method.

Generalized parallel-perspective stereo mosaics from airborne video

In this paper, we present a new method for automatically and efficiently generating stereoscopic mosaics by seamless registration of images collected by a video camera mounted on an airborne platform. Using a parallel-perspective representation, a pair of geometrically registered stereo mosaics can be precisely constructed under quite general motion. A novel parallel ray interpolation for stereo mosaicing (PRISM) approach is proposed to make stereo mosaics seamless in the presence of obvious motion parallax and for rather arbitrary scenes. Parallel-perspective stereo mosaics generated with the PRISM method have better depth resolution than perspective stereo due to the adaptive baseline geometry. Moreover, unlike previous results showing that parallel-perspective stereo has a constant depth error, we conclude that the depth estimation error of stereo mosaics is in fact a linear function of the absolute depths of a scene. Experimental results on long video sequences are given.

Stereo reconstruction from multiperspective panoramas

A new approach to computing a panoramic (360 degrees) depth map is presented in this paper. Our approach uses a large collection of images taken by a camera whose motion has been constrained to planar concentric circles. We resample regular perspective images to produce a set of multiperspective panoramas and then compute depth maps directly from these resampled panoramas. Our panoramas sample uniformly in three dimensions: rotation angle, inverse radial distance, and vertical elevation. The use of multiperspective panoramas eliminates the limited overlap present in the original input images and, thus, problems as in conventional multibaseline stereo can be avoided. Our approach differs from stereo matching of single-perspective panoramic images taken from different locations, where the epipolar constraints are sine curves. For our multiperspective panoramas, the epipolar geometry, to the first order approximation, consists of horizontal lines. Therefore, any traditional stereo algorithm can be applied to multiperspective panoramas with little modification. In this paper, we describe two reconstruction algorithms. The first is a cylinder sweep algorithm that uses a small number of resampled multiperspective panoramas to obtain dense 3D reconstruction. The second algorithm, in contrast, uses a large number of multiperspective panoramas and takes advantage of the approximate horizontal epipolar geometry inherent in multiperspective panoramas. It comprises a novel and efficient 1D multibaseline matching technique, followed by tensor voting to extract the depth surface. Experiments show that our algorithms are capable of producing comparable high quality depth maps which can be used for applications such as view interpolation.