Noninvasive technique for measuring in vivo three-dimensional carpal bone kinematics

Carpal and forearm kinematics during a simulated hammering task

PURPOSE

Hammering is a functional task in which the wrist generally follows a path of motion from a position of combined radial deviation and extension to combined ulnar deviation and flexion, colloquially referred to as a dart thrower's motion. The purpose of this study was to measure wrist and forearm motion and scaphoid and lunate kinematics during a simulated hammering task. We hypothesized that the wrist follows an oblique path from radial extension to ulnar flexion and that there would be minimal radiocarpal motion during the hammering task.

METHODS

Thirteen healthy volunteers consented to have their wrist and distal forearm imaged with computed tomography at 5 positions while performing a simulated hammering task. The kinematics of the carpus and distal radioulnar joint were calculated using established markerless bone registration methods. The path of wrist motion was described relative to the sagittal plane. Forearm rotation and radioscaphoid and radiolunate motion were computed as a function of wrist position.

RESULTS

All volunteers performed the simulated hammering task using a path of wrist motion from radial extension to ulnar flexion that was oriented an average of 41 degrees +/- 3 degrees from the sagittal plane. These paths did not pass through the anatomic neutral wrist position; rather, they passed through a neutral hammering position, which was offset by 36 degrees +/- 8 degrees in extension. Rotations of the scaphoid and lunate were not minimal but averaged 40% and 41%, respectively, of total wrist motion. The range of forearm pronation-supination during the task averaged 12 degrees +/- 8 degrees .

CONCLUSIONS

The simulated hammering task was performed using a wrist motion that followed a coupled path of motion, from extension and radial deviation to flexion and ulnar deviation. Scaphoid and lunate rotations were greatly reduced, but not minimized, compared with rotations during pure wrist flexion/extension. This is likely because an extended wrist position was maintained throughout the entire task studied.

Development of a kinematic 3D carpal model to analyze in vivo soft-tissue interaction across multiple static postures

We developed a subject-specific kinematic model to analyze in vivo soft-tissue interaction in the carpus in static, unloaded postures. The bone geometry was extracted from a reference computed tomography volume image. The soft-tissue geometry, including cartilage and ligament tissues, was computationally modeled based on kinematic constraints; the constraints were extracted from multiple computed tomography scans corresponding to different carpal postures. The data collected in vivo was next coupled with numerical simulation in order to analyze the role of soft-tissues in different postures. The resulting model extends the state of biomechanical modeling by incorporating soft-tissue constraints across the carpus range of motion, while successfully using only physiological constraints. The model results suggest that soft-tissue wrapping constraints have substantial impact on carpus stability.

The advantage of throwing the first stone: how understanding the evolutionary demands of Homo sapiens is helping us understand carpal motion

Unlike any other diarthrodial joint in the human body, the "wrist joint" is composed of numerous articulations between eight carpal bones, the distal radius, the distal ulna, and five metacarpal bones. The carpal bones articulate with each other as well as with the distal radius, distal ulna, and the metacarpal bases. Multiple theories explaining intercarpal motion have been proposed; however, controversy exists concerning the degree and direction of motion of the individual carpal bones within the two carpal rows during different planes of motion. Recent investigations have suggested that traditional explanations of carpal bone motion may not entirely account for carpal motion in all planes. Better understanding of the complexities of carpal motion through the use of advanced imaging techniques and simultaneous appreciation of human anatomic and functional evolution have led to the hypothesis that the "dart thrower's motion" of the wrist is uniquely human. Carpal kinematic research and current developments in both orthopaedic surgery and anthropology underscore the importance of the dart thrower's motion in human functional activities and the clinical implications of these concepts for orthopaedic surgery and rehabilitation.

A computational approach to the "optimal" screw axis location and orientation in the scaphoid bone

PURPOSE

The development of small cannulated screws permitted minimally invasive percutaneous fixation of acute scaphoid fractures. There are known mechanical advantages to increased screw length and central screw placement, as well as documented deleterious effects of screw malposition, including articular protrusion, proximal pole fracture, and nonunion. The purpose of this study was to compare 2 methods of calculating a screw axis accessible via a volar surgical approach.

METHODS

To prevent screw protrusion through the surface of the scaphoid, we required the central screw axis to be contained completely within a "safe zone," defined as a 3-dimensional region located a fixed distance from the inner cortical surface. Safe zones were calculated based on computed tomography-generated models of the right scaphoid from 10 healthy subjects. Two methods for screw axis calculation were compared: (1) maximum screw length (MSL) within the safe zone and (2) a cylinder best-fit (CYL) to the safe zone. The volar approach was defined as percutaneous screw placement through the scaphoid tubercle without violation of the trapezium. Resultant screw axes were compared between the 2 methods for volar accessibility, screw length, and location of the screw axis.

RESULTS

The MSL axes were completely accessible without violating the trapezium in all but 2 subjects. The average MSL axes were 11% longer than the CYL axes and passed significantly closer to the scaphoid tubercle than did the CYL axes (1.8 mm vs 6.4 mm). The MSL axes passed significantly farther (1.6 mm) from the bone centroid than did the CYL axes (0.4 mm). All 10 MSL axes were located in the central one-third of the proximal pole.

CONCLUSIONS

Without violation of the trapezium, MSL axis can be attained via the volar percutaneous approach to the scaphoid. Using this approach, the ideal starting point for maximal screw length was located 1.7 mm dorsal and 0.2 mm radial to the apex of the scaphoid tubercle.

In vivo length changes of selected carpal ligaments during wrist radioulnar deviation

PURPOSE

To investigate changes in the lengths of selected carpal ligaments during wrist radioulnar deviation in vivo.

METHODS

We studied in vivo changes in the lengths of fibers of 5 palmar and dorsal intracapsular ligaments of the wrist during radioulnar deviation in 6 wrists of healthy volunteers using a noninvasive approach. Using serial computed tomography scans and volume registration techniques, the carpal kinematics were examined at 4 positions, from 40 degrees ulnar deviation to 20 degrees radial deviation, in 20 degrees increments. The 3-dimensional structures of the carpal bones, distal radius and ulna, and metacarpal bones were reconstructed using customized software. We modeled the paths of fibers of 5 palmar and dorsal carpal ligaments: radioscaphocapitate (RSC), long radiolunate (LRL), ulnocapitate (UC), dorsal intercarpal (DIC), and dorsal radiocarpal (DRC) ligaments. We analyzed changes in the lengths of these ligaments during wrist radioulnar deviation.

RESULTS

During wrist ulnar deviation, the RSC, LRL, and DIC ligaments lengthened significantly. During radial deviation, the UC and DRC ligaments lengthened significantly. Compared with their lengths at the neutral position of the carpus, the LRL ligament showed the greatest elongation rate at wrist ulnar deviation, and the DRC ligament showed the greatest elongation rate at wrist radial deviation among the 5 ligaments studied.

CONCLUSIONS

Among ligaments measured, the RSC, LRL, and DIC ligaments are tensed during wrist ulnar deviation. The UC and DRC ligaments are tensed during wrist radial deviation. Results of this in vivo study suggest that radial or ulnar deviation may predispose some carpal ligaments to excessive tensile load. The finding that the ligaments undergo different elongation rates during wrist motion may also indicate their roles in maintaining normal wrist kinematics.

In vivo changes in lengths of the ligaments stabilizing the distal radioulnar joint

PURPOSE

To investigate changes in lengths of the ligaments stabilizing the distal radioulnar joint during forearm pronation and supination in vivo.

METHODS

We studied in vivo kinematics of the distal radioulnar joint by measuring the length changes of the ligaments of the distal radioulnar joint in 6 wrists of normal volunteers. Using serial computed tomography scans and volume registration techniques, the distal radioulnar joints were examined at 7 positions from 90 degrees pronation to 90 degrees supination in 30 degrees increments. The 3-dimensional structures of the joint were reconstructed with customized software. The paths of palmar and dorsal superficial and deep fibers of the radioulnar ligaments were modeled, and changes in their lengths were computed and analyzed statistically.

RESULTS

The lengths of the palmar superficial radioulnar ligaments decreased significantly during forearm pronation from 90 degrees to 30 degrees compared with those at the other positions. During pronation from 90 degrees to neutral rotation, lengths of the dorsal deep radioulnar ligaments decreased significantly. The lengths of the dorsal superficial radioulnar ligament decreased significantly during forearm supination from neutral rotation to 90 degrees , as did the lengths of the palmar deep radioulnar ligaments. The palmar and dorsal superficial radioulnar ligaments showed greater length changes than did the palmar and dorsal deep radioulnar ligaments during forearm pronation-supination. The dorsal superficial radioulnar ligament had the greatest length changes during pronation-supination among the studied ligaments.

CONCLUSIONS

These in vivo measurements validate that in forearm pronation, the dorsal superficial radioulnar ligament and palmar deep radioulnar ligament tighten, serving as restraints for the distal radioulnar joint instability. In forearm supination, the palmar superficial radioulnar ligament and dorsal deep radioulnar ligament tighten, maintaining stability of the distal radioulnar joint.

Detection of in vivo dynamic 3-D motion patterns in the wrist joint

We present a method for measurement dynamic in vivo carpal motion patterns. The method consists of a 4-D rotational X-ray (RX) with improved image quality and image processing for accurate detection in vivo wrist motion measurements. Dynamic 3-D imaging yields a number of volume reconstructions of the wrist at different phases of its cyclic motion. Next, the carpal reconstructions are registered to their static acquired and segmented counterpart in all phases. With this information, the relation between the applied motion and carpal kinematic behavior is acquired, i.e., the motion patterns. We investigated the precision of the image acquisition and processing and tested it on three healthy subjects. The precision of the image acquisition and image processing is in the range of submillimeters and subdegrees, respectively, which is better than existing systems and sufficient for clinical investigations. Reproducibility measurements show some more deviation ( > 1 degrees). This method was tested on four human volunteers and agrees for the greater part with previously done invasive and nondynamic measurements. In vivo motion pattern measurement with 4-D-RX imaging and processing is accurate and noninvasive. The motion patterns can reveal disorders that could not have been detected in either video fluoroscopy, computed tomography, or MRI.

Gender differences in capitate kinematics are eliminated after accounting for variation in carpal size

Previous studies have found gender differences in carpal kinematics, and there are discrepancies in the literature on the location of the flexionextension and radio-ulnar deviation rotation axes of the wrist. It has been postulated that these differences are due to carpal bone size differences rather than gender and that they may be resolved by normalizing the kinematics by carpal size. The purpose of this study was to determine if differences in radio-capitate kinematics are a function of size or gender. We also sought to determine if a best-fit pivot point (PvP) describes the radio-capitate joint as a ball-and-socket articulation. By using an in vivo markerless bone registration technique applied to computed tomography scans of 26 male and 28 female wrists, we applied scaling derived from capitate length to radio-capitate kinematics, characterized by a best-fit PvP. We determined if radio-capitate kinematics behave as a ball-and-socket articulation by examining the error in the best-fit PvP. Scaling PvP location completely removed gender differences (P=0.3). This verifies that differences in radio-capitate kinematics are due to size and not gender. The radio-capitate joint did not behave as a perfect ball and socket because helical axes representing anatomical motions such as flexion-extension, radio-ulnar deviation, dart throwers, and antidart throwers, were located at distances up to 4.5 mm from the PvP. Although the best-fit PvP did not yield a single center of rotation, it was still consistently found within the proximal pole of the capitate, and rms errors of the best-fit PvP calculation were on the order of 2 mm. Therefore, the ball-and-socket model of the wrist joint center using the best-fit PvP is appropriate when considering gross motion of the hand with respect to the forearm such as in optical motion capture models. However, the ball-and-socket model of the wrist is an insufficient description of the complex motion of the capitate with respect to the radius. These findings may aid in the design of wrist external fixation and orthotics.

Interfragmentary motion in patients with scaphoid nonunion

PURPOSE

Scaphoid nonunions are a common complication of scaphoid fractures and frequently progress to degenerative arthritis. This study evaluated the effect of scaphoid nonunion on the in vivo kinematics of the radioscaphocapitate articulation.

METHODS

Computed tomography with a markerless registration technique was used to quantify motion of the scaphoid, lunate, and capitate in vivo, in 6 patients with unilateral scaphoid nonunion. The 3-dimensional helical axis of motion rotations of each bone were measured as a function of wrist flexion-extension and compared with those of the uninjured contralateral wrist. Mixed linear modeling was used to compare flexion-extension of the injured scaphoid fragments with those of the uninjured scaphoid, and the lunate of the injured wrist with the lunate of the uninjured wrist. Interfragmentary motion in the injured scaphoid was assessed by calculating rotation of the distal fragment relative to the proximal fragment, as well as the linear displacement between the 2 fragments at the fracture site.

RESULTS

Flexion and extension of the distal scaphoid fragment was similar to that of the uninjured scaphoid. Extension of the proximal fragment was significantly decreased by 38%, compared with the uninjured scaphoid. Similarly, extension of the lunate in the injured wrist was significantly decreased, by 40%. Interfragmentary rotation was 33% of wrist motion in flexion and 35% of wrist motion in extension. Maximum interfragmentary displacement was on the order of 1 mm.

CONCLUSIONS

Scaphoid nonunions have a dramatic impact on carpal kinematics, partially uncoupling the proximal and distal carpal rows. Although the results of this in vivo study differ from past in vitro studies, the increase in lunocapitate motion we identified is consistent with the current theory that the scaphoid acts as a fundamental link between the proximal and distal carpal rows.

Performing accurate joint kinematics from 3-D in vivo image sequences through consensus-driven simultaneous registration

This paper addresses the problem of the robust registration of multiple observations of the same object. Such a problem typically arises whenever it becomes necessary to recover the trajectory of an evolving object observed through standard 3-D medical imaging techniques. The instances of the tracked object are assumed to be variously truncated, locally subject to morphological evolutions throughout the sequence, and imprinted with significant segmentation errors as well as significant noise perturbations. The algorithm operates through the robust and simultaneous registration of all surface instances of a given object through median consensus. This operation consists of two interwoven processes set up to work in close collaboration. The first one progressively generates a median and implicit shape computed with respect to current estimations of the registration transformations, while the other refines these transformations with respect to the current estimation of their median shape. When compared with standard robust techniques, tests reveal significant improvements, both in robustness and precision. The algorithm is based on widely-used techniques, and proves highly effective while offering great flexibility of utilization.

Simulated radioscapholunate fusion alters carpal kinematics while preserving dart-thrower's motion

PURPOSE

Midcarpal degeneration is well documented after radioscapholunate fusion. This study tested the hypothesis that radioscapholunate fusion alters the kinematic behavior of the remaining lunotriquetral and midcarpal joints, with specific focus on the dart-thrower's motion.

METHODS

Simulated radioscapholunate fusions were performed on 6 cadaveric wrists in an anatomically neutral posture. Two 0.060-in. carbon fiber pins were placed from proximal to distal across the radiolunate and radioscaphoid joints, respectively. The wrists were passively positioned in a custom jig toward a full range of motion along the orthogonal axes as well as oblique motions, with additional intermediate positions along the dart-thrower's path. Using a computed tomography-based markerless bone registration technique, each carpal bone's three-dimensional rotation was defined as a function of wrist flexion/extension from the pinned neutral position. Kinematic data was analyzed against data collected on the same wrist prior to fixation using hierarchical linear regression analysis and paired Student's t-tests.

RESULTS

After simulated fusion, wrist motion was restricted to an average flexion-extension arc of 48 degrees , reduced from 77 degrees , and radial-ulnar deviation arc of 19 degrees , reduced from 33 degrees . The remaining motion was maximally preserved along the dart-thrower's path from radial-extension toward ulnar-flexion. The simulated fusion significantly increased rotation through the scaphotrapezial joint, scaphocapitate joint, triquetrohamate joint, and lunotriquetral joint. For example, in the pinned wrist, the rotation of the hamate relative to the triquetrum increased 85%. Therefore, during every 10 degrees of total wrist motion, the hamate rotated an average of nearly 8 degrees relative to the triquetrum after pinning versus 4 degrees in the normal state.

CONCLUSIONS

Simulated radioscapholunate fusion altered midcarpal and lunotriquetral kinematics. The increased rotations across these remaining joints provide one potential explanation for midcarpal degeneration after radioscapholunate fusion. Additionally, this fusion model confirms the dart-thrower's hypothesis, as wrist motion after simulated radioscapholunate fusion was primarily preserved from radial-extension toward ulnar-flexion.

A kinematics-based method for generating cartilage maps and deformations in the multi-articulating wrist joint from CT images

We present a non-invasive method for estimating individual-specific cartilage maps directly from in vivo kinematic data and computed tomography (CT) volume images, and a novel algorithm for computing cartilage surface deformations. Our proposed cartilage model, a meshless incompressible height-field captures the physical properties important for estimating the shape, contact area, and deformation magnitude of cartilage at each articulation. This cartilage model can serve as an effective building block for a future forward-dynamic predictive model of the human wrist.

A method for in-vivo kinematic analysis of the forearm

PURPOSE

To develop a method for in-vivo kinematic study of normal forearm rotation using computed tomographic (CT) images and a custom apparatus which allows for control of amount of forearm rotation.

METHODS

The forearm of one asymptomatic volunteer was CT-scanned in five positions: neutral, 60 degrees pronation, maximal pronation, 60 degrees supination, and maximal supination. Surface registration of the pronated/supinated image datasets with the neutral position was performed. The resulting transformation matrices were decomposed into finite helical axis (FHA) parameters. Kinematics were expressed as motion of the radius relative to the ulna.

RESULTS

The axes of the forearm passed through the volar region of the radial head at the proximal radioulnar joint (PRUJ), extending towards the dorsal region of the ulnar head at the distal radioulnar joint (DRUJ). Distinct FHAs were calculated for each forearm position analyzed relative to neutral rotation. Forearm pronation FHAs were different from forearm supination FHAs.

CONCLUSIONS

Our experimental methodology is capable of describing the in-vivo kinematics of the forearm with good accuracy and reliability. Future in-vivo studies would need to be performed using a larger sample size to further validate our preliminary results. An ideal clinical application of this methodology would be in the comparative study of patients with forearm dysfunction.

Three-dimensional analysis of the intrinsic anatomy of the metatarsal bones

Knowledge of the anatomy of the forefoot is important for understanding its mechanical pathology and developing specific surgical procedures. The aim of this study was to quantify 3-dimensional morphological parameters, which were proposed for the characterization of the metatarsal intrinsic anatomy. Thirty-five metatarsal bones prepared from 7 cadaver specimens were analyzed according to a new 3-dimensional computer-aided (CA) methodology. Manual and CA measurement techniques were compared. The reality of an intrinsic axial torsion of the metatarsals was underlined with mean values between 3.2 degrees and 57.7 degrees. Using the CA method, the reliability was excellent (intraclass correlation coefficient, 0.98) and significantly better than the manual method (P < .1E-12). With specific consideration of the second metatarsal intrinsic morphology, we emphasized its mechanical function. These results reflect the possibilities of CA systems. These data, which were carried out on specific anatomical characteristics of the metatarsal bones, can improve the metatarsalgia surgical procedures.

Management of wrist injuries

LEARNING OBJECTIVES

After studying this article, the participant should be able to: 1. Understand the anatomy and the biomechanical properties of the wrist. 2. Understand the standard examination process for wrist injuries. 3. Accurately diagnose common wrist conditions. 4. Establish a management plan for wrist problems.

BACKGROUND

Although common, wrist injuries and conditions are difficult to treat if the physician is unfamiliar with their management.

METHODS

Wrist anatomy and kinematics are discussed. Physical and radiographic examinations that are mandatory for diagnosing wrist conditions are presented. Common wrist injuries are reviewed.

RESULTS

Understanding the anatomy and kinematics of the wrist is important in diagnosing and treating wrist conditions and in predicting outcomes after treatment. Physical examination of the wrist requires an understanding of the surface anatomy and a number of specific maneuvers. Physicians should also be familiar with other diagnostic tests, which include radiography, arthrography, computed tomography, magnetic resonance imaging, and arthroscopy.

CONCLUSIONS

Physicians who treat wrist injuries should be able to establish an adequate management plan for common wrist injuries and conditions and be able to predict outcomes based on these treatment plans.

Carpal kinematics during simulated active and passive motion of the wrist

PURPOSE

The purpose of this study was to investigate the effect of experimental control mechanisms, simulated active (tendon-driven) and passive (externally assisted), on carpal motion.

METHODS

Kinematics of the carpal bones in five fresh-frozen cadaver upper extremities were studied using an optical motion analysis system. The wrist extensors and flexors were dissected and loaded. For passive motion, the tendons were loaded to simulate muscle tone while the investigator passively moved the wrist using a pin placed in the third metacarpal. To simulate active, patient-driven motion, the tendons were attached directly to guide bars while the investigator used a puppeteer mechanism to move the wrist.

RESULTS

There were no significant differences in carpal motion (flexion-extension motion or radial-ulnar deviation) when the wrist was moved in simulated active motion through the extensor and flexor tendons or in passive motion, with a constant force applied to the tendons. Kinematics for simulated active motion, in general, was more difficult to control and was less smooth than the kinematics for passive motion.

CONCLUSIONS

Carpal bone kinematics (excluding the pisiform) in a healthy normal joint are similar in both simulated active (tendon-driven) and passive (externally assisted) wrist motion because the carpal bones are passively moved during wrist motion (there are no direct tendon-to-muscle attachments to the proximal carpal bones and minimal attachments to the distal carpal bones).

Arthrodial joint markerless cross-parameterization and biomechanical visualization

Abstract-Orthopedists invest significant amounts of effort and time trying to understand the biomechanics of arthrodial (gliding) joints. Although new image acquisition and processing methods currently generate richer-than-ever geometry and kinematic data sets that are individual specific, the computational and visualization tools needed to enable the comparative analysis and exploration of these data sets lag behind. In this paper, we present a framework that enables the cross-data-set visual exploration and analysis of arthrodial joint biomechanics. Central to our approach is a computer-vision-inspired markerless method for establishing pairwise correspondences between individual-specific geometry. Manifold models are subsequently defined and deformed from one individual-specific geometry to another such that the markerless correspondences are preserved while minimizing model distortion. The resulting mutually consistent parameterization and visualization allow the users to explore the similarities and differences between two data sets and to define meaningful quantitative measures. We present two applications of this framework to human-wrist data: articular cartilage transfer from cadaver data to in vivo data and cross-data-set kinematics analysis. The method allows our users to combine complementary geometries acquired through different modalities and thus overcome current imaging limitations. The results demonstrate that the technique is useful in the study of normal and injured anatomy and kinematics of arthrodial joints. In principle, the pairwise cross-parameterization method applies to all spherical topology data from the same class and should be particularly beneficial in instances where identifying salient object features is a nontrivial task.

In vivo measurements of lumbar segmental motion during axial rotation in asymptomatic and chronic low back pain male subjects

STUDY DESIGN

Twenty male volunteers in their 30s (10 asymptomatic and 10 chronic low back pain) were passively rotated and CT scanned to determine lumbar segmental motion.

OBJECTIVES

To determine the feasibility of measuring 3-dimensional segmental motion in vivo in pain subjects.

SUMMARY OF BACKGROUND DATA

Axial rotational spinal instability has been implicated as a potential cause of low back pain. Previous studies have not compared 3-dimensional segmental motions between healthy and symptomatic subjects due to torsion.

METHODS

Lumbar segmental motions were calculated using volume merge method in 3 major planes from 3-dimensional CT reconstructions. Disc degeneration grade was analyzed from MRI using the Thompson's grading method.

RESULTS

All subjects could perform the imaging study without significant increase in pain. No differences were seen in disc degeneration grade or segmental motions between the 2 groups. Segmental motion differences were seen in torsion, lateral bending, and frontal translation based on spinal level.

CONCLUSIONS

Current noninvasive CT-based method is feasible for use in healthy and low back pain subjects. Measured segmental motions were similar to other studies in torsion; however, other motions have not been measured previously.

Effects of distal radius malunion on distal radioulnar joint mechanics--an in vivo study

Patients with a malunited distal radius often have painful and limited forearm rotation, and may progress to arthritis of the distal radioulnar joint (DRUJ). The purpose of this study was to determine if DRUJ congruency and mechanics were altered in patients with malunited distal radius fractures. In nine subjects with unilateral malunions, interbone distances and dorsal and palmar radioulnar ligament lengths were computed from tomographic images of both forearms in multiple forearm positions using markerless bone registration (MBR) techniques. The significance of the changes were assessed using a generalized linear model, which controlled for forearm rotation angle (-60 degrees to 60 degrees ). In the malunited forearm, compared to the contralateral uninjured arm, we found that ulnar joint space area significantly decreased by approximately 25%, the centroid of this area moved an average of 1.3 mm proximally, and the dorsal radioulnar ligament elongated. Despite our previous findings of insignificant changes in the pattern of radioulnar kinematics in patients with malunited fractures, we found significant changes in DRUJ joint area and ligament lengthening. These findings suggest that alterations in joint mechanics and soft tissues may play an important role in the dysfunction associated with these injuries.

A digital database of wrist bone anatomy and carpal kinematics

The skeletal wrist consists of eight small, intricately shaped carpal bones. The motion of these bones is complex, occurs in three dimensions, and remains incompletely defined. Our previous efforts have been focused on determining the in vivo three-dimensional (3-D) kinematics of the normal and abnormal carpus. In so doing we have developed an extensive database of carpal bone anatomy and kinematics from a large number of healthy subjects. The purpose of this paper is to describe that database and to make it available to other researchers. CT volume images of both wrists from 30 healthy volunteers (15 males and 15 females) were acquired in multiple wrist positions throughout the normal range of wrist motion. The outer cortical surfaces of the carpal bones, radius and ulna, and proximal metacarpals were segmented and the 3-D motion of each bone was calculated for each wrist position. The database was constructed to include high-resolution surface models, measures of bone volume and shape, and the 3-D kinematics of each segmented bone. The database does not include soft tissues of the wrist. While there are numerous digital anatomical databases, this one is unique in that it includes a large number of subjects and it contains in vivo kinematic data as well as the bony anatomy.

Carpal kinematics after proximal row carpectomy

PURPOSE

Proximal row carpectomy (PRC) is a clinically useful motion-sparing procedure for the treatment of certain degenerative conditions of the wrist. Clinical outcome studies after PRC have shown that wrist flexion-extension averages approximately 60% of that of the contralateral wrist. The purpose of this study was to determine how the kinematics of the wrist are altered after PRC.

METHODS

Eight fresh-frozen cadaver forearms were scanned with computed tomography before and after PRC. Forearms were scanned in 5 different wrist positions (neutral, extension, flexion, radial deviations, and ulnar deviation). Wrists were positioned dynamically and then held statically in a custom fixture through forces applied to the 4 wrist flexor/extensor tendon groups. Three-dimensional computer models of the radius, lunate, and capitate were generated from the computed tomographic images, and the kinematics of the capitate and lunate were calculated relative to the neutral position. For the intact wrist, the motion of the capitate was calculated relative to both the lunate (midcarpal motion) and the radius (overall wrist motion) and the motion of the lunate was calculated relative to the radius (radiocarpal motion). After PRC, only the movement of the capitate relative to the radius was calculated, which represents radiocapitate and overall wrist motion. All motions were plotted in 3 dimensions for purposes of qualitative visualization.

RESULTS

After PRC, the capitate articulated with the lunate fossa of the radius for all positions in all samples. Overall wrist motion decreased 28%, 30%, 40%, and 12% in flexion, extension, radial deviation, and ulnar deviation, respectively. Motion at the radiocarpal joint after PRC, however, was greater compared with motion at the radiocarpal and midcarpal joints of the intact wrist during flexion and extension. This was not the case in radial deviation because of impingement of the trapezoid on the radial styloid. In radial and ulnar deviation, motion of the capitate head changed from predominantly rotational in the intact wrist (midcarpal joint) to a combination of rotation and translation after PRC (radiocarpal joint).

CONCLUSIONS

Removal of the proximal carpal row decreased normal wrist flexion and extension. Although ulnar deviation was preserved, radial deviation was limited by impingement of the trapezoid on the radial styloid. Radiocapitate range of motion after PRC was greater than capitolunate range of motion in the intact wrists. Compared with previously published requirements, wrist range of motion observed after PRC was sufficient for activities of daily living.

Carpal kinematics

The motion of the eight carpal bones is extremely complex, and their accurate measurement has been hampered by their multiplanar rotations and translations, the irregularity of their shape, and the small magnitudes of movements. However, an accurate three-dimensional understanding of carpal motion is critical for academic and clinical purposes, and may play an important role in assessing surgical procedures or rehabilitation protocols.

The dart-throwing motion of the wrist: is it unique to humans?

Kinematic analysis has shown a near-stationary proximal carpal row during the dart-thrower's motion, which is believed to provide a stable platform for the generation of force and accuracy during certain power and precision grip activities. This finding is consistent with evidence in the human hand of adaptations that enabled effective manipulation of stones, cylindric wood, and bone tools for throwing and clubbing. There are at least two possible explanations for the observed human proximal carpal row kinematics. One is that it is retained from a previous common ancestor with great apes and previously adapted to some form of foraging or locomotor behavior involving the hands, but was recruited for tool use after we diverged from the apes. The second is that it evolved after our divergence from apes, in synchrony with adaptations in the human hand to the manipulation of tools, and central to the development of the human's unique ability to aim and accelerate tools and weapons.

Low-dose computed tomography: a solution for in vivo medical imaging and accurate patient-specific 3D bone modeling?

BACKGROUND

The number of in vivo clinical biomedical experiments based on computed tomography is increasing. International radiation-protection bodies are promoting the use of low-dose computed tomography to reduce radiation absorption by the subject undergoing imaging. On the other hand no data exist in the literature to quantify whether or not low-dose computed tomography would lead to a decrease of result quality when used for three-dimensional bone modeling and related measurements.

METHODS

This paper aimed at finding a consensus between minimal X-ray radiation of the subject, and satisfactory image data quality, especially for accurate three-dimensional bone modeling. Several standard computed tomography and low-dose computed tomography sequences were analyzed in three tests and statistically compared.

FINDINGS

Absence of significant difference between standard and low-dose computed sequences indicated that the low-dose setting would not produce less accurate three-dimensional models, while it decreased the effective X-ray dose up to 90% compared to standard settings.

INTERPRETATION

Low-dose computed tomography seems suitable for accurate three-dimensional bone modeling, while the related effective X-ray radiation is low. Such setting is therefore advised for any in vivo medical imaging aiming to collect bone data.

In vivo elongation of the palmar and dorsal scapholunate interosseous ligament

PURPOSE

To investigate the elongation of the palmar and dorsal subregions of the scapholunate interosseous ligament (SLIL) in healthy human subjects throughout a complete range of wrist motion.

METHODS

The 3-dimensional in vivo kinematics of the scaphoid and lunate were determined in both wrists of 13 female and 13 male volunteers from computed tomography volume images. For each wrist the palmar and dorsal insertions of the SLIL were identified on reconstructed surface models of the scaphoid and lunate. The interbone distances between the palmar and dorsal sites were calculated for the neutral wrist position. Elongations were then calculated after applying the 3-dimensional kinematics to the scaphoid and lunate. A multiple linear regression model was used to determine if elongations varied significantly as a function of wrist flexion/extension and radioulnar deviation.

RESULTS

From pure wrist extension to pure wrist flexion, the fibers of the SLIL at the palmar insertion site increased significantly, from 29% shortening to 27% elongation, and the dorsal insertion decreased from 26% to 4% shortening with respect to the fiber lengths in the neutral position. From pure radial deviation to pure ulnar deviation, the elongation of the palmar insertion significantly decreased from 9% elongation to 21% shortening. There was no notable change in dorsal elongation with wrist radioulnar deviation. The multiple linear regression model predicted that there would be minimal elongation of the palmar and dorsal fibers at the wrist position along the dart thrower's path from radial extension to ulnar flexion.

CONCLUSIONS

In vivo elongation of the palmar and dorsal fibers of the SLIL varied with wrist position. The palmar fibers lengthened and the dorsal fibers shortened with wrist flexion and the opposite occurred with wrist extension. Scapholunate interosseous ligament elongation was minimal as the wrist was positioned along the dart thrower's path.

Kinematics of the midcarpal and radiocarpal joint in flexion and extension: an in vitro study

PURPOSE

To apply carpal kinematic analysis using noninvasive medical imaging to investigate the midcarpal and radiocarpal contributions to wrist flexion and extension in a quasidynamic in vitro model.

METHODS

Eight fresh-frozen cadaver wrists were scanned with computed tomography in neutral, full flexion, and full extension. Body-mass-based local coordinate systems were used to track motion of the capitate, lunate, and scaphoid with the radius as a fixed reference. Helical axis motion parameters and Euler angles were calculated for flexion and extension.

RESULTS

Minimal out-of-plane carpal motion was noted with the exception of small amounts of ulnar deviation and supination in flexion. Overall wrist flexion was 68 degrees +/- 12 degrees and extension was 50 degrees +/- 12 degrees. In flexion, 75% of wrist motion occurred at the radioscaphoid joint, and 50% occurred at the radiolunate joint. In extension, 92% of wrist motion occurred at the radioscaphoid joint, and 52% occurred at the radiolunate joint. Midcarpal flexion/extension between the capitate and scaphoid was 0 degrees +/- 5 degrees in extension and 10 degrees +/- 13 degrees in flexion. Midcarpal flexion/extension between the capitate and lunate was larger, with 15 degrees +/- 11 degrees in extension and 22 degrees +/- 19 degrees in flexion.

CONCLUSIONS

The capitate and scaphoid tend to move together. This results in greater flexion/extension for the scaphoid than the lunate at the radiocarpal joint. The lunate has greater midcarpal motion between it and the capitate than the scaphoid does with the capitate. The engagement between the scaphoid and capitate is particularly evident during wrist extension. Out-of-plane motion was primarily ulnar deviation at the radiocarpal joint during flexion. These results are clinically useful in understanding the consequences of isolated fusions in the treatment of wrist instability.

Three-dimensional in vivo measurement of lumbar spine segmental motion

STUDY DESIGN

Fifteen asymptomatic volunteers were externally rotated and CT scanned to determine lumbar segmental motion.

OBJECTIVES

To measure three-dimensional segmental motion in vivo using a noninvasive measurement technique.

SUMMARY OF BACKGROUND DATA

Spinal instability has been implicated as a potential cause of low back pain, especially, axial rotational instability. Typically, flexion-extension lateral radiographs were used to quantify instability, but inaccurately measured translations and inability to capture out-of-plane rotations are limitations.

METHODS

Using a custom-calibrated rotation jig, L1-S1 CT reconstructions were created of volunteers in each of 3 positions: supine and left and right rotations of the torso with respect to the hips. Segmental motions were calculated using Euler angles and volume merge methods in three major planes.

RESULTS

Segmental motions were small (< 4 degrees or 6 mm) with the greatest motions seen in axial rotation (range, 0.6 degrees to 2.2 degrees ), lateral bending (range, -3.6 degrees to 3.0 degrees ), and frontal translation (-1.2 mm to 5.4 mm). Largest motions were in the levels: L1-L2 to L3-L4.

CONCLUSIONS

Complex coupled motions were measured due to external torsion and could be indicative of instability chronic patients with low back pain. The presented data provide baseline segmental motions for future comparisons to symptomatic subjects.

An anatomic study of the triquetrum-hamate joint

PURPOSE

To investigate the articulating surface of the triquetrum-hamate joint (TqH).

METHODS

The carpal bones of 46 wrist specimens were examined. The shape of the TqH joint surfaces were investigated, with focus on variations in the shape of the hamate and corresponding triquetrum and the presence and position of convex and concave surfaces.

RESULTS

Two distinct patterns of hamate TqH articular surfaces were identified, designated type I (31 of 46) and type II (15 of 46). The triquetral TqH articular surface also was found to have 2 distinct patterns, designated type A (18 of 46) and type B (15 of 46). Of the triquetrums examined 13 of 46 had characteristics that were a variable mixture of the 2 identifiable triquetral surface types, but these did not have sufficient similarity to constitute a third triquetrum surface type. The corresponding articulation patterns of these joint surfaces showed a strong trend for a type A triquetrum to articulate with a type I hamate (18 of 46 of all joints) and for a type B triquetrum to articulate with a type II hamate (13 of 46 of all joints). No association was seen between lunate types and type I or type II hamates.

CONCLUSIONS

These findings suggest the existence of 2 distinct TqH joint patterns, which have been termed TqH-1 and TqH-2. There appears to be a spectrum of variation between these 2 identifiable types. As a result, the TqH is best described as a spectrum, with TqH-1 at one end and TqH-2 at the other. A TqH-1 joint is a helicoidal configuration. It is double-faceted, with the hamate and the triquetrum articular surfaces possessing complementary concave and convex parts. A TqH-2 joint has a predominantly oval convex shape, whereas the primarily concave triquetrum is better described as a dish for the flatter hamate. It has no hamate groove or distal ridge.

Super-resolution registration using tissue-classified distance fields

We present a method for registering the position and orientation of bones across multiple computed-tomography (CT) volumes of the same subject. The method is subvoxel accurate, can operate on multiple bones within a set of volumes, and registers bones that have features commensurate in size to the voxel dimension. First, a geometric object model is extracted from a reference volume image. We use then unsupervised tissue classification to generate from each volume to be registered a super-resolution distance field--a scalar field that specifies, at each point, the signed distance from the point to a material boundary. The distance fields and the geometric bone model are finally used to register an object through the sequence of CT images. In the case of multiobject structures, we infer a motion-directed hierarchy from the distance-field information that allows us to register objects that are not within each other's capture region. We describe a validation framework and evaluate the new technique in contrast with grey-value registration. Results on human wrist data show average accuracy improvements of 74% over grey-value registration. The method is of interest to any intrasubject, same-modality registration applications where subvoxel accuracy is desired.

Double-step registration of in vivo stereophotogrammetry with both in vitro 6-DOFs electrogoniometry and CT medical imaging

Standard registration techniques of bone morphology to motion analysis data often lead to unsatisfactory motion simulation because of discrepancies during the location of anatomical landmarks in the datasets. This paper describes an iterative registration method of a three-dimensional (3D) skeletal model with both 6 degrees-of-freedom joint kinematics and standard motion analysis data. The method is demonstrated in this paper on the lower limb. The method includes two steps. A primary registration allowed synchronization of in vitro kinematics of the knee and ankle joints using flexion/extension angles from in vivo gait analysis. Results from primary registration were then improved by a so-called advanced registration, which integrated external constraints obtained from experimental gait pre-knowledge. One cadaver specimen was analyzed to obtain both joint kinematics of knee and ankle joints using 3D electrogoniometry, and 3D bone morphology from medical imaging data. These data were registered with motion analysis data from a volunteer during the execution of locomotor tasks. Computer graphics output was implemented to visualize the results for a motion of sitting on a chair. Final registration results allowed the observation of both in vivo motion data and joint kinematics from the synchronized specimen data. The method improved interpretation of gait analysis data, thanks to the combination of realistic 3D bone models and joint mechanism. This method should be of interest both for research in gait analysis and medical education. Validation of the overall method was performed using RMS of the differences between bone poses estimated after registration and original data from motion analysis.

In vivo radiocarpal kinematics and the dart thrower's motion

BACKGROUND

Wrist motion is dependent on the complex articulations of the scaphoid and lunate at the radiocarpal joint. However, much of what is known about the radiocarpal joint is limited to the anatomically defined motions of flexion, extension, radial deviation, and ulnar deviation. The purpose of the present study was to determine the three-dimensional in vivo kinematics of the scaphoid and lunate throughout the entire range of wrist motion, with special focus on the dart thrower's wrist motion, from radial extension to ulnar flexion.

METHODS

The three-dimensional kinematics of the capitate, scaphoid, and lunate were calculated from serial computed tomography scans of both wrists of fourteen healthy male subjects (average age, 25.6 years; range, twenty-two to thirty-four years) and fourteen healthy female subjects (average age, 23.6 years; range, twenty-one to twenty-eight years), which yielded data on a total of 504 distinct wrist positions.

RESULTS

The scaphoid and lunate primarily flexed or extended in all directions of wrist motion, and their rotation varied linearly with the direction of wrist motion (R2= 0.90 and 0.82, respectively). Scaphoid and lunate motion was significantly less along the path of the dart thrower's motion than in any other direction of wrist motion (p < 0.01 for both carpal bones). The scaphoid and lunate translated radially (2 to 4 mm) when extended, but they did not translate appreciably when flexed.

CONCLUSIONS

The dart thrower's path defined the transition between flexion and extension rotation of the scaphoid and lunate, and it identified wrist positions at which scaphoid and lunate motion approached zero. These findings indicate that this path of wrist motion confers a unique degree of radiocarpal stability and suggests that this direction, rather than the anatomical directions of wrist flexion-extension and radioulnar deviation, is the primary functional direction of the radiocarpal joint.

In vivo radiocarpal kinematics and the dart thrower's motion

BACKGROUND

Wrist motion is dependent on the complex articulations of the scaphoid and lunate at the radiocarpal joint. However, much of what is known about the radiocarpal joint is limited to the anatomically defined motions of flexion, extension, radial deviation, and ulnar deviation. The purpose of the present study was to determine the three-dimensional in vivo kinematics of the scaphoid and lunate throughout the entire range of wrist motion, with special focus on the dart thrower's wrist motion, from radial extension to ulnar flexion.

METHODS

The three-dimensional kinematics of the capitate, scaphoid, and lunate were calculated from serial computed tomography scans of both wrists of fourteen healthy male subjects (average age, 25.6 years; range, twenty-two to thirty-four years) and fourteen healthy female subjects (average age, 23.6 years; range, twenty-one to twenty-eight years), which yielded data on a total of 504 distinct wrist positions.

RESULTS

The scaphoid and lunate primarily flexed or extended in all directions of wrist motion, and their rotation varied linearly with the direction of wrist motion (R2= 0.90 and 0.82, respectively). Scaphoid and lunate motion was significantly less along the path of the dart thrower's motion than in any other direction of wrist motion (p < 0.01 for both carpal bones). The scaphoid and lunate translated radially (2 to 4 mm) when extended, but they did not translate appreciably when flexed.

CONCLUSIONS

The dart thrower's path defined the transition between flexion and extension rotation of the scaphoid and lunate, and it identified wrist positions at which scaphoid and lunate motion approached zero. These findings indicate that this path of wrist motion confers a unique degree of radiocarpal stability and suggests that this direction, rather than the anatomical directions of wrist flexion-extension and radioulnar deviation, is the primary functional direction of the radiocarpal joint.

Kinematics of the midcarpal and radiocarpal joints in radioulnar deviation: an in vitro study

PURPOSE

Carpal kinematics have been studied widely yet remain difficult to understand fully. The noninvasive measurement of carpal kinematics through medical imaging has become popular. Studies have shown that with radial deviation the scaphoid and lunate flex whereas the capitate moves radiodorsally relative to the lunate. This study investigated the midcarpal and radiocarpal contributions to radial and ulnar deviation of the wrist. This was accomplished through noninvasive characterization of the scaphoid, lunate, and capitate using 3-dimensional medical imaging of the wrist in radial and ulnar deviation.

METHODS

Eight fresh-frozen and thawed cadaveric wrists were used in an experimental set-up that positioned the wrist through spring-scale actuation of the 4 wrist flexor and extensor tendon groups. The wrists were scanned by computed tomography in neutral and full radial and ulnar deviation. Body mass-based local coordinate systems were used to track the motion of the capitate, lunate, and scaphoid with the radius as a fixed reference. Helical axis motion and Euler angles were calculated from neutral to radial and ulnar deviation for the capitate relative to the radius, lunate, and scaphoid and for the lunate and scaphoid relative to the radius.

RESULTS

The capitate, scaphoid, and lunate moved in a characteristic manner relative to the radius and to one another. Radial and ulnar deviation occurred primarily in the midcarpal joint. Midcarpal motion accounted for 60% of radial deviation and 86% of ulnar deviation. In radial deviation the proximal row flexed and the capitate extended; the converse was true in ulnar deviation.

CONCLUSIONS

Radioulnar deviation (in-plane motion) occurred mostly through the midcarpal joint, with a lesser contribution from the radiocarpal joint. The results of our study agree with previous investigations that found the scaphoid and lunate flex in radial deviation (out-of-plane motion) relative to the radius whereas the capitate extends (out-of-plane motion) relative to the scaphoid/lunate (with the converse occurring in ulnar deviation). Our study shows how these out-of-plane motions combine to produce in-plane wrist radioulnar deviation. The use of 3-dimensional visualization greatly aids in the understanding of these motions. The results of our study may be useful clinically in understanding the consequences of isolated midcarpal fusions in the treatment of wrist instability.

4D rotational x-ray imaging of wrist joint dynamic motion

Current methods for imaging joint motion are limited to either two-dimensional (2D) video fluoroscopy, or to animated motions from a series of static three-dimensional (3D) images. 3D movement patterns can be detected from biplane fluoroscopy images matched with computed tomography images. This involves several x-ray modalities and sophisticated 2D to 3D matching for the complex wrist joint. We present a method for the acquisition of dynamic 3D images of a moving joint. In our method a 3D-rotational x-ray (3D-RX) system is used to image a cyclically moving joint. The cyclic motion is synchronized to the x-ray acquisition to yield multiple sets of projection images, which are reconstructed to a series of time resolved 3D images, i.e., four-dimensional rotational x ray (4D-RX). To investigate the obtained image quality parameters the full width at half maximum (FWHM) of the point spread function (PSF) via the edge spread function and the contrast to noise ratio between air and phantom were determined on reconstructions of a bullet and rod phantom, using 4D-RX as well as stationary 3D-RX images. The CNR in volume reconstructions based on 251 projection images in the static situation and on 41 and 34 projection images of a moving phantom were 6.9, 3.0, and 2.9, respectively. The average FWHM of the PSF of these same images was, respectively, 1.1, 1.7, and 2.2 mm orthogonal to the motion and parallel to direction of motion 0.6, 0.7, and 1.0 mm. The main deterioration of 4D-RX images compared to 3D-RX images is due to the low number of projection images used and not to the motion of the object. Using 41 projection images seems the best setting for the current system. Experiments on a postmortem wrist show the feasibility of the method for imaging 3D dynamic joint motion. We expect that 4D-RX will pave the way to improved assessment of joint disorders by detection of 3D dynamic motion patterns in joints.

Magnetic resonance imaging for in vivo assessment of three-dimensional patellar tracking

We have developed a non-invasive measurement technique which can ultimately be used to quantify three-dimensional patellar kinematics of human subjects for a range of static positions of loaded flexion and assessed its accuracy. Knee models obtained by segmenting and reconstructing one high-resolution scan of the knee were registered to bone outlines obtained by segmenting fast, low-resolution scans of the knee in static loaded flexion. We compared patellar tracking measurements made using the new method to measurements made using Roentgen stereophotogrammetric analysis in three cadaver knee specimens loaded through a range of flexion in a test rig. The error in patellar spin and tilt measurements was less than 1.02 degrees and the error in lateral patellar shift was 0.88 mm. Sagittal plane scans provided more accurate final measurements of patellar spin and tilt, whereas axial plane scans provided more accurate measurements of lateral translation and patellar flexion. Halving the number of slices did not increase measurement error significantly, which suggests that scan times can be reduced without reducing accuracy significantly. The method is particularly useful for multiple measurements on the same subject because the high-resolution bone-models need only be created once; thus, the potential variability in coordinate axes assignment and model segmentation during subsequent measurements is removed.

How much can carpus rotate axially? An in vivo study

BACKGROUND

Supination and pronation movements occur primarily at the forearm though are possible at the wrist joint too. The axial rotation of the wrist also called the radiometacarpal rotation has been quantified but for its passive range which may never occur during the day-to-day routine activities. It is normally not possible for the wrist joint to rotate axially in an active manner. However, voluntary effort to rotate the forearm while keeping the hand fixed on a custom designed device is able to provide active rotation of the wrist which occurs in a manner similar to that occurring during the daily routine activities.

METHODS

The present study measured axial rotation of the wrist in 20 asymptomatic volunteers who had axial CT done of their wrist with elbow in 10-30 degrees flexion and forearm positioned parallel to the long axis of the table with thumb pointing up towards the roof. The examination was repeated twice while the subject actively tried to supinate and pronate the forearm against the fixed hand and the metacarpals using maximum voluntary effort on a custom designed positioning device.

FINDINGS

The mean radiometacarpal supination and pronation were 17.15 degrees (SD 7.9) and 17.0 degrees (SD 10) respectively. The movement was found to occur predominantly at midcarpal joint with radiocarpal joint contributing only 18% to supination and 31% to pronation.

INTERPRETATION

The radiometacarpal rotation has a crucial bearing in the development of the wrist prostheses. The design of the prostheses should consider accommodating axial movements that occur in the carpus during the activities of daily living.

Development of an in-vivo method of wrist joint motion analysis

BACKGROUND

A clinically applicable method of plotting wrist joint motion in three-dimensions has not been described. Computer modelling has been used to improve joint arthroplasty elsewhere in the body. We aimed to develop a method of measuring, and modelling, wrist joint motion that could potentially be used to improve the kinematic performance of wrist arthroplasty designs.

METHODS

An electromagnetic system was used to record wrist motion in three-dimensions. A small pilot study attempted to assess repeatability. A larger group of volunteers with normal wrists was also studied. An iterative computer model, using a two-axis hinge, was developed. One output from this model, the offset of the two axes of motion, is presented as an example of the possible applications of this method of analysis.

FINDINGS

For any one individual, in the pilot study, the offset of the axes calculated was relatively reproducible. Between individuals the difference in the offset of the axes was more marked. In 99 normal sets of data the mean axis offset was 6.8mm (range 28 mm to -21 mm) A positive value represented the radio-ulnar deviation axis placed distal to the flexion-extension axis.

INTERPRETATION

The three-dimensional motion plots generated using this method could be used clinically to follow disease progression or recovery following surgery. The computer modelling method described has potential applications, if further refined, to wrist joint arthroplasty design.

Development and Validation of a Computed Tomography-Based Methodology to Measure Carpal Kinematics

Motion of the wrist bones is complicated and difficult to measure. Noninvasive measurement of carpal kinematics using medical images has become popular. This technique is difficult and most investigators employ custom software. The objective of this paper is to describe a validated methodology for measuring carpal kinematics from computed tomography (CT) scans using commercial software. Four cadaveric wrists were CT imaged in neutral, full flexion, and full extension. A registration block was attached to the distal radius and used to align the data sets from each position. From the CT data, triangulated surface models of the radius, lunate, and capitate bones were generated using commercial software. The surface models from each wrist position were read into engineering design software that was used to calculate the centroid (position) and principal mass moments of inertia (orientation) of (1) the capitate and lunate relative to the fixed radius and (2) the capitate relative to the lunate. These data were used to calculate the helical axis kinematics for the motions from neutral to extension and neutral to flexion. The kinematics were plotted in three dimensions using a data visualization software package. The accuracy of the method was quantified in a separate set of experiments in which an isolated capitate bone was subjected to two different known rotation/translation motions for ten trials each. For comparison to in vivo techniques, the error in distal radius surface matching was determined using the block technique as a gold standard. The motion that the lunate and capitate underwent was half that of the overall wrist flexion-extension range of motion. Individually, the capitate relative to the lunate and the lunate relative to the radius generally flexed or extended about 30 deg, while the entire wrist (capitate relative to radius) typically flexed or extended about 60 deg. Helical axis translations were small, ranging from 0.6 mm to 1.8 mm across all motions. The accuracy of the method was found to be within 1.4 mm and 0.5 deg (95% confidence intervals). The mean error in distal radius surface matching was 2.4 mm and 1.2 deg compared to the use of a registration block. Carpal kinematics measured using the described methodology were accurate, reproducible, and similar to findings of previous investigators. The use of commercially available software should broaden the access of researchers interested in measuring carpal kinematics using medical imaging.

Three-dimensional modeling and animation of two carpal bones: a technique

The objectives of this study were to (a). create 3D reconstructions of two carpal bones from single CT data sets and animate these bones with experimental in vitro motion data collected during dynamic loading of the wrist joint, (b). develop a technique to calculate the minimum interbone distance between the two carpal bones, and (c). validate the interbone distance calculation process. This method utilized commercial software to create the animations and an in-house program to interface with three-dimensional CAD software to calculate the minimum distance between the irregular geometries of the bones. This interbone minimum distance provides quantitative information regarding the motion of the bones studied and may help to understand and quantify the effects of ligamentous injury.

Capitate-based kinematics of the midcarpal joint during wrist radioulnar deviation: an in vivo three-dimensional motion analysis

PURPOSE

The purpose of this study was to obtain qualitative and quantitative information regarding in vivo 3-dimensional (3D) kinematics of the midcarpal joint during wrist radioulnar deviation (RUD).

METHODS

We studied the in vivo kinematics of the midcarpal joint during wrist RUD in the right wrists of 10 volunteers by using a technology without radioactive exposure. The magnetic resonance images were acquired during RUD. The capitate was registered with the scaphoid, the lunate, and the triquetrum by using a volume registration technique. Animations of the relative motions of the midcarpal joint were created and accurate estimates of the relative orientations of the bones and axes of rotation (AORs) of each motion were obtained.

RESULTS

The scaphoid, lunate, and triquetrum motions relative to the capitate during RUD were found to be similar, describing a rotational motion around the axis obliquely penetrating the head of the capitate in almost a radial extension/ulnoflexion plane of motion of the wrist. The AORs of the scaphoid, the lunate, and the triquetrum were located closely in space. In the axial plane the AORs of the scaphoid, lunate, and triquetrum formed a radially and palmarly opening angle of 43 degrees +/- 7 degrees, 41 degrees +/- 11 degrees, and 42 degrees +/- 14 degrees with the wrist flexion/extension axis, respectively.

CONCLUSIONS

This study reports the in vivo 3D measurements of midcarpal motion relative to the capitate. Isolated midcarpal motion during RUD could be approximated to be a rotation in a plane of a radiodorsal/ulnopalmar rotation of the wrist, which may coincide with a motion plane of one of the most essential human wrist motions, known as the dart-throwing motion.

In vivo motion of the scaphotrapezio–trapezoidal (STT) joint

It has previously been shown that the articulation of the scaphotrapezio-trapezoidal (STT) joint can be modeled such that the trapezoid and trapezium are tightly linked and move together on a single path relative to the scaphoid during all directions of wrist motion. The simplicity of such a model is fascinating, but it leaves unanswered why two distinct carpal bones would have a mutually articulating surface if there were no motion between them, and how such a simplistic model of STT joint motion translates into the more complex global carpal motion. We performed an in vivo analysis of the trapezoids and trapeziums of 10 subjects (20 wrists) using a markerless bone registration technique. In particular, we analyzed the centroid spacing, centroid displacements, kinematics, and postures of the trapezoid and trapezium relative to the scaphoid. We found that, on a gross level, the in vivo STT motion was consistent with that reported in vitro. In addition, we found that the magnitude of trapezoid and trapezium motion was dependent upon the direction of wrist motion. However, we also found that when small rotations and displacements are considered there were small but statistically significant relative motions between the trapezoid and trapezium (0.4 mm in maximum flexion, 0.3 mm in radial deviation and at least 10 degrees in flexion extension and ulnar deviation) as well as slight off-path rotations. The results of this study indicate that the STT joint should be considered a mobile joint with motions more complex than previously appreciated.

Carpal bone postures and motions are abnormal in both wrists of patients with unilateral scapholunate interosseous ligament tears

PURPOSE

The recent ability to measure 3-dimensional in vivo carpal kinematics has facilitated the noninvasive study of complex carpal bone motion.

METHODS

In this study we examined the flexion/extension carpal kinematics of both wrists in 8 patients with unilateral scapholunate interosseous ligament (SLIL) tears by using computed tomographic (CT) imaging and a markerless bone registration technique. Carpal bone neutral posture and flexion/extension motion of both wrists of the injured patients were compared with the same parameters in wrists of 10 uninjured male and female volunteers (normals).

RESULTS

The neutral posture of the injured scaphoid and lunate were significantly more extended than those of normals. In these patients, however, the postures of the scaphoid and lunate in the contralateral uninjured wrists also were abnormal and were similar to those of the injured wrist. In addition, extension of the lunate and flexion of the scaphoid in both the injured and uninjured wrist were significantly different from normal but not different from each other.

CONCLUSIONS

This study was unable to attribute altered carpal posture and motion to SLIL tears because abnormalities were found in both wrists of patients with unilateral injury. The etiology of abnormal wrist kinematics in the asymptomatic wrist of patients with unilateral tears of the scapholunate ligament is not known.

Estimating Motion From MRI Data

INVITED PAPER: Magnetic resonance imaging (MRI) is an ideal imaging modality to measure blood flow and tissue motion. It provides excellent contrast between soft tissues, and images can be acquired at positions and orientations freely defined by the user. From a temporal sequence of MR images, boundaries and edges of tissues can be tracked by image processing techniques. Additionally, MRI permits the source of the image signal to be manipulated. For example, temporary magnetic tags displaying a pattern of variable brightness may be placed in the object using MR saturation techniques, giving the user a known pattern to detect for motion tracking. The MRI signal is a modulated complex quantity, being derived from a rotating magnetic field in the form of an induced current. Well-defined patterns can also be introduced into the phase of the magnetization, and could be thought of as generalized tags. If the phase of each pixel is preserved during image reconstruction, relative phase shifts can be used to directly encode displacement, velocity and acceleration. New methods for modeling motion fields from MRI have now found application in cardiovascular and other soft tissue imaging. In this review, we shall describe the methods used for encoding, imaging, and modeling motion fields with MRI.

The triquetrum-hamate joint: an anatomic and in vivo three-dimensional kinematic study

PURPOSE

To obtain anatomic and kinematic information regarding the relative motion of the triquetrum-hamate (TqH) joint.

METHODS

In this anatomic study the contact surface constraints of the TqH joint that affect TqH motion were investigated by passively simulating TqH motion according to the kinematic data. Two fresh and 28 embalmed cadaver wrists were dissected. In the kinematic study we studied the in vivo 3-dimensional (3D) kinematics of the TqH joint during radioulnar deviation (RUD) and wrist flexion and extension motion (FEM) in 5 healthy wrists using a magnetic resonance image (MRI)-based markerless bone registration algorithm. Animations of the relative motion of the TqH joint were created and accurate estimates of the relative positions and orientations of the bones and axes of rotation of TqH motion during RUD and FEM were obtained.

RESULTS

The anatomic study revealed that the contact surface constraints of the TqH joint include primarily the oval convex surface of the hamate. In the kinematic study TqH motion was likely to be not helicoidal but rotational around an oval convex surface of the hamate. In RUD the triquetral movement was rotation in an ulnoflexion-radial extension plane of the wrist. In FEM it was rotation in an almost flexion-extension plane of the wrist. The axes of rotation of the TqH joint in all wrist motions always ran distal to the TqH joint.

CONCLUSIONS

Typical motion of the TqH joint in functional range of motion is not a helicoidal motion on the saddle, but rather a rotational motion on an oval, whose axes of rotation are located on the distal side of the joint.

Electrogoniometric and radiologic evaluation of scapho-trapezo-trapezoid arthrodesis

This article addresses the following questions: after scapho-trapezo-trapezoid (STT) fusion in patients, is the wrist center of rotation (COR) modified during flexion/extension and radioulnar deviations? What is the loss of range of motion (ROM) observed after this procedure? To answer these questions, the authors analyzed the COR in the plan using fluoroscopy and an approach by 3D electrogoniometry using the mean point pivot. This 3D COR was studied during circumduction.

The use of medical imaging-based kinematic analysis in the evaluation of wrist function and outcome

The authors developed a 3D CT technique to analyze in vivo variations in carpal bone position based on 3D reconstruction of transverse CT data in 5 wrist positions. The subject groups analyzed consisted of 40 asymptomatic volunteers and 30 patients with various wrist disorders (fractures, instabilities). In 11 anatomic specimens, this kinematic analysis was completed by a radiographic morphologic study and an investigation of capsular ligament anatomy. Clinical applications showed that carpal bone motion in the injured wrist was not significantly different from contralateral, asymptomatic wrist motion. In both wrists of patients with unilateral pathology, however, significant differences were observed as compared with asymptomatic volunteers. Scaphoid motion was bilaterally altered, suggesting the existence of anatomic or kinematic factors predisposing to certain carpal pathologies.

Segmentation of carpal bones from CT images using skeletally coupled deformable models

The in vivo investigation of joint kinematics in normal and injured wrist requires the segmentation of carpal bones from 3D (CT) images, and their registration over time. The non-uniformity of bone tissue, ranging from dense cortical bone to textured spongy bone, the irregular shape of closely packed carpal bones, small inter-bone spaces compared to the resolution of CT images, along with the presence of blood vessels, and the inherent blurring of CT imaging render the segmentation of carpal bones a challenging task. We review the performance of statistical classification, deformable models (active contours), region growing, region competition, and morphological operations for this application. We then propose a model which combines several of these approaches in a unified framework. Specifically, our approach is to use a curve evolution implementation of region growing from initialized seeds, where growth is modulated by a skeletally-mediated competition between neighboring regions. The inter-seed skeleton, which we interpret as the predicted boundary of collision between two regions, is used to couple the growth of seeds and to mediate long-range competition between them. The implementation requires subpixel representations of each growing region as well as the inter-region skeleton. This method combines the advantages of active contour models, region growing, and both local and global region competition methods. We demonstrate the effectiveness of this approach for our application where many of the difficulties presented above are overcome as illustrated by synthetic and real examples. Since this segmentation method does not rely on domain-specific knowledge, it should be applicable to a range of other medical imaging segmentation tasks.