Validation of a new model-based tracking technique for measuring three-dimensional, in vivo glenohumeral joint kinematics

Accuracy of biplane x-ray imaging combined with model-based tracking for measuring in-vivo patellofemoral joint motion

BACKGROUND

Accurately measuring in-vivo motion of the knee's patellofemoral (PF) joint is challenging. Conventional measurement techniques have largely been unable to accurately measure three-dimensional, in-vivo motion of the patella during dynamic activities. The purpose of this study was to assess the accuracy of a new model-based technique for measuring PF joint motion.

METHODS

To assess the accuracy of this technique, we implanted tantalum beads into the femur and patella of three cadaveric knee specimens and then recorded dynamic biplane radiographic images while manually flexing and extending the specimen. The position of the femur and patella were measured from the biplane images using both the model-based tracking system and a validated dynamic radiostereometric analysis (RSA) technique. Model-based tracking was compared to dynamic RSA by computing measures of bias, precision, and overall dynamic accuracy of four clinically-relevant kinematic parameters (patellar shift, flexion, tilt, and rotation).

RESULTS

The model-based tracking technique results were in excellent agreement with the RSA technique. Overall dynamic accuracy indicated errors of less than 0.395 mm for patellar shift, 0.875 degrees for flexion, 0.863 degrees for tilt, and 0.877 degrees for rotation.

CONCLUSION

This model-based tracking technique is a non-invasive method for accurately measuring dynamic PF joint motion under in-vivo conditions. The technique is sufficiently accurate in measuring clinically relevant changes in PF joint motion following conservative or surgical treatment.

Validation of three-dimensional model-based tibio-femoral tracking during running

The purpose of this study was to determine the accuracy of a radiographic model-based tracking technique that measures the three-dimensional in vivo motion of the tibio-femoral joint during running. Tantalum beads were implanted into the femur and tibia of three subjects and computed tomography (CT) scans were acquired after bead implantation. The subjects ran 2.5m/s on a treadmill positioned within a biplane radiographic system while images were acquired at 250 frames per second. Three-dimensional implanted bead locations were determined and used as a "gold standard" to measure the accuracy of the model-based tracking. The model-based tracking technique optimized the correlation between the radiographs acquired via the biplane X-ray system and digitally reconstructed radiographs created from the volume-rendered CT model. Accuracy was defined in terms of measurement system bias, precision and root-mean-squared (rms) error. Results were reported in terms of individual bone tracking and in terms of clinically relevant tibio-femoral joint translations and rotations (joint kinematics). Accuracy for joint kinematics was as follows: model-based tracking measured static joint orientation with a precision of 0.2 degrees or better, and static joint position with a precision of 0.2mm or better. Model-based tracking precision for dynamic joint rotation was 0.9+/-0.3 degrees , 0.6+/-0.3 degrees , and 0.3+/-0.1 degrees for flexion-extension, external-internal rotation, and ab-adduction, respectively. Model-based tracking precision when measuring dynamic joint translation was 0.3+/-0.1mm, 0.4+/-0.2mm, and 0.7+/-0.2mm in the medial-lateral, proximal-distal, and anterior-posterior direction, respectively. The combination of high-speed biplane radiography and volumetric model-based tracking achieves excellent accuracy during in vivo, dynamic knee motion without the necessity for invasive bead implantation.

Contributions of the Individual Muscles of the Shoulder to Glenohumeral Joint Stability During Abduction

The aim of this study was to determine the relative contributions of the deltoid and rotator cuff muscles to glenohumeral joint stability during arm abduction. A three-dimensional model of the upper limb was used to calculate the muscle and joint-contact forces at the shoulder for abduction in the scapular plane. The joints of the shoulder girdle—sternoclavicular joint, acromioclavicular joint, and glenohumeral joint—were each represented as an ideal three degree-of-freedom ball-and-socket joint. The articulation between the scapula and thorax was modeled using two kinematic constraints. Eighteen muscle bundles were used to represent the lines of action of 11 muscle groups spanning the glenohumeral joint. The three-dimensional positions of the clavicle, scapula, and humerus during abduction were measured using intracortical bone pins implanted into one subject. The measured bone positions were inputted into the model, and an optimization problem was solved to calculate the forces developed by the shoulder muscles for abduction in the scapular plane. The model calculations showed that the rotator cuff muscles (specifically, supraspinatus, subscapularis, and infraspinatus) by virtue of their lines of action are perfectly positioned to apply compressive load across the glenohumeral joint, and that these muscles contribute most significantly to shoulder joint stability during abduction. The middle deltoid provides most of the compressive force acting between the humeral head and the glenoid, but this muscle also creates most of the shear, and so its contribution to joint stability is less than that of any of the rotator cuff muscles.

Mechanotransduction and fracture repair

Fracture-healing is regulated in part by mechanical factors. Study of the processes by which the mechanical environment of a fracture modulates healing can yield new strategies for the treatment of bone injuries. This article focuses on several key unanswered questions in the study of mechanotransduction and fracture repair. These questions concern identifying the mechanical stimuli that promote bone-healing, defining the mechanisms that are involved in this process, and examining the potential for cross-talk between investigations of mechanotransduction in bone-healing and in healing of other mesenchymally derived tissues. Several approaches to obtain accurate estimates of the mechanical stimuli present within a fracture callus are proposed, and our current understanding of the mechanotransduction processes involved in bone-healing is reviewed. Further study of mechanotransduction mechanisms is needed in order to identify those that are most critical and active during the various phases of fracture repair. A better understanding of the effect of mechanical factors on bone-healing will also benefit the study of healing, regeneration, and engineering of other skeletal tissues.

Quantitative analysis of glenoid bone loss in osteoarthritis using three-dimensional computed tomography scans

The 3-dimensional (3D) shape of the glenoid vault has been defined previously and shown to be a complex, yet consistent, shape in individuals without glenoid pathology. We proposed assessing whether this conserved shape could be used as a template to measure glenoid bone loss in subjects with glenohumeral osteoarthritis. Computed tomography (CT) scans of both shoulders were obtained from 12 subjects with unilateral glenohumeral osteoarthritis. The paired scapulae were reconstructed 3-dimensionally, using a previously developed graphic software package. Two methods of estimating glenoid bone loss were performed. First, using the software, a stereolithography model of the standardized vault shape was implanted into each glenoid and measurements made of the volume of the implant not contained within each vault. Second, direct measurements of the paired glenoid vault volumes were performed. The volume of the nonarthritic glenoid was used as a subject-specific template for normal glenoid vault volume for each pair. The glenoid bone volumes measured by each method were compared and Pearson's correlation coefficient determined. The average measurement of glenoid bone loss using the vault implant was within 0.8% (SD +/- 1.5%) of the measurement made using the contralateral, normal glenoid. For all patients, Pearson's correlation coefficient was .99, indicating a very high correlation between the two methods of measuring bone loss (P < .0001). The intricate, yet consistent 3D shape of the glenoid vault can be used as an accurate and reliable template to measure glenoid bone loss in glenohumeral osteoarthritis.

Measuring dynamic in-vivo glenohumeral joint kinematics: technique and preliminary results

Rotator cuff tears are a common injury that affect a significant percentage of the population over age 60. Although it is widely believed that the rotator cuff's primary function is to stabilize the humerus against the glenoid during shoulder motion, accurately measuring the three-dimensional (3D) motion of the shoulder's glenohumeral joint under in-vivo conditions has been a challenging endeavor. In particular, conventional motion measurement techniques have frequently been limited to static or two-dimensional (2D) analyses, and have suffered from limited or unknown in-vivo accuracy. We have recently developed and validated a new model-based tracking technique that is capable of accurately measuring the 3D position and orientation of the scapula and humerus from biplane X-ray images. Herein we demonstrate the in-vivo application of this technique for accurately measuring glenohumeral joint translations during shoulder motion in the repaired and contralateral shoulders of patients following rotator cuff repair. Five male subjects were tested at 3-4 months following arthroscopic rotator cuff repair. Superior-inferior humeral translation was measured during elevation, and anterior-posterior humeral translation was measured during external rotation in both the repaired and contralateral shoulders. The data failed to detect statistically significant differences between the repaired and contralateral shoulders in superior-inferior translation (p=0.74) or anterior-posterior translation (p=0.77). The measurement technique overcomes the limitations of conventional motion measurement techniques by providing accurate, 3D, in-vivo measures of glenohumeral joint motion during dynamic activities. On-going research is using this technique to assess the effects of conservative and surgical treatment of rotator cuff tears.

In vivo measurement of subacromial space width during shoulder elevation: technique and preliminary results in patients following unilateral rotator cuff repair

BACKGROUND

The shoulder's subacromial space is of significant clinical interest due to its association with rotator cuff disease. Previous studies have estimated the subacromial space width to be 2-17 mm, but no study has measured in vivo subacromial space width during shoulder motion. The purpose of this study was to measure the in vivo subacromial space width during shoulder elevation in patients following rotator cuff repair.

METHODS

Biplane X-ray images were collected during shoulder elevation of 11 patients who had undergone rotator cuff repair. Glenohumeral joint motion was measured from the biplane X-ray images for each subject's repaired and asymptomatic, contralateral shoulders. The joint motion data were combined with subject-specific CT models to measure the subacromial space width during shoulder motion.

FINDINGS

Subacromial space width decreased with shoulder elevation, ranging from 2.3 to 7.4 mm in the repaired shoulder and 1.2-7.1 mm in the contralateral shoulder. Subacromial space width in the repaired shoulder was only 0.5 mm less than the contralateral shoulder when averaged over 10-60 degrees of glenohumeral elevation.

INTERPRETATION

The results indicate that the humerus in the repaired shoulder is positioned more cranially on the glenoid than in the contralateral shoulder. It is unclear if these subtle differences in subacromial space width are due to the surgical procedure or post-operative stiffness, or if subacromial impingement contributed to the development of the rotator cuff tear. Future research will ascertain if these results represent a transient response to the surgery or a more fundamental difference in rotator cuff function between repaired and contralateral shoulders.

The effect of muscle loading on the kinematics of in vitro glenohumeral abduction

This in vitro study evaluated the effects of four different muscle-loading ratios on active glenohumeral joint abduction. Eight cadaveric shoulders were tested using a shoulder simulator designed to reproduce unconstrained abduction of the humerus via computer-controlled pneumatic actuation. Forces were applied to cables that were sutured to tendons or fixed to bone, to simulate loading of the supraspinatus, subscapularis, infraspinatus/teres minor, and anterior, middle, and posterior deltoid muscles. Four sets of muscle-loading ratios were employed, based on: (1) equal loads, (2) average physiological cross-sectional areas (pCSAs), (3) constant values of the product of electromyographic (EMG) data and pCSAs, and (4) variable ratios of the EMG and pCSA data which changed as a function of abduction angle. The investigator generated passive motions with no muscle loads simulated. Repeatability was quantified by five successive trials of the passive and simulated active motions. There was improved repeatability in the simulated active motions versus passive motions, significant for abduction angles less than 40 degrees (p=0.02). No difference was found in the repeatability of the four different muscle-loading ratios for simulated active motions (p0.067 for all angles). The improved repeatability of active over passive motion suggests simulated active motion should be employed for in vitro simulations of shoulder motion.