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

Musculoskeletal ultrasound for 3D bone modeling: A preliminary study applied to lumbar vertebra

BACKGROUND

There is no non-invasive in vivo method to assess intervertebral kinematics. Current kinematics models are based on in vitro bone reconstructions from computed tomography (CT)-scan imaging, fluoroscopy and MRIs, which are either expensive or deleterious for human tissues. Musculoskeletal ultrasound is an accessible, easy to use and cost-effective device that allows high-resolution, real-time imaging of bone structure.

OBJECTIVE

The aim of this preliminary study was to compare the concordance of 3D bone modeling of lumbar vertebrae between CT-scan and ultrasound imaging and to study the intra and inter-reliability of distances measured on 3D ultrasound bone models.

METHODS

CT-scan, ultrasound, and in situ data of five lumbar vertebrae from the same human specimen were used. All vertebrae were scanned by tomography and a new musculoskeletal ultrasound procedure. Then, 3D bone modeling was created from both CT-scan and ultrasound image data set. Distances between anatomical bones landmarks were measured on the 3D models and compared to in situ measurements.

Multibody Kinematics Optimization for the Estimation of Upper and Lower Limb Human Joint Kinematics: A Systematized Methodological Review

Multibody kinematics optimization (MKO) aims to reduce soft tissue artefact (STA) and is a key step in musculoskeletal modeling. The objective of this review was to identify the numerical methods, their validation and performance for the estimation of the human joint kinematics using MKO. Seventy-four papers were extracted from a systematized search in five databases and cross-referencing. Model-derived kinematics were obtained using either constrained optimization or Kalman filtering to minimize the difference between measured (i.e., by skin markers, electromagnetic or inertial sensors) and model-derived positions and/or orientations. While hinge, universal, and spherical joints prevail, advanced models (e.g., parallel and four-bar mechanisms, elastic joint) have been introduced, mainly for the knee and shoulder joints. Models and methods were evaluated using: (i) simulated data based, however, on oversimplified STA and joint models; (ii) reconstruction residual errors, ranging from 4 mm to 40 mm; (iii) sensitivity analyses which highlighted the effect (up to 36 deg and 12 mm) of model geometrical parameters, joint models, and computational methods; (iv) comparison with other approaches (i.e., single body kinematics optimization and nonoptimized kinematics); (v) repeatability studies that showed low intra- and inter-observer variability; and (vi) validation against ground-truth bone kinematics (with errors between 1 deg and 22 deg for tibiofemoral rotations and between 3 deg and 10 deg for glenohumeral rotations). Moreover, MKO was applied to various movements (e.g., walking, running, arm elevation). Additional validations, especially for the upper limb, should be undertaken and we recommend a more systematic approach for the evaluation of MKO. In addition, further model development, scaling, and personalization methods are required to better estimate the secondary degrees-of-freedom (DoF).

Knee Kinematics Estimation Using Multi-Body Optimisation Embedding a Knee Joint Stiffness Matrix: A Feasibility Study

The use of multi-body optimisation (MBO) to estimate joint kinematics from stereophotogrammetric data while compensating for soft tissue artefact is still open to debate. Presently used joint models embedded in MBO, such as mechanical linkages, constitute a considerable simplification of joint function, preventing a detailed understanding of it. The present study proposes a knee joint model where femur and tibia are represented as rigid bodies connected through an elastic element the behaviour of which is described by a single stiffness matrix. The deformation energy, computed from the stiffness matrix and joint angles and displacements, is minimised within the MBO. Implemented as a "soft" constraint using a penalty-based method, this elastic joint description challenges the strictness of "hard" constraints. In this study, estimates of knee kinematics obtained using MBO embedding four different knee joint models (i.e., no constraints, spherical joint, parallel mechanism, and elastic joint) were compared against reference kinematics measured using bi-planar fluoroscopy on two healthy subjects ascending stairs. Bland-Altman analysis and sensitivity analysis investigating the influence of variations in the stiffness matrix terms on the estimated kinematics substantiate the conclusions. The difference between the reference knee joint angles and displacements and the corresponding estimates obtained using MBO embedding the stiffness matrix showed an average bias and standard deviation for kinematics of 0.9±3.2° and 1.6±2.3 mm. These values were lower than when no joint constraints (1.1±3.8°, 2.4±4.1 mm) or a parallel mechanism (7.7±3.6°, 1.6±1.7 mm) were used and were comparable to the values obtained with a spherical joint (1.0±3.2°, 1.3±1.9 mm). The study demonstrated the feasibility of substituting an elastic joint for more classic joint constraints in MBO.

A reference method for the evaluation of femoral head joint center location technique based on external markers

Accurate localization of joint centers is essential in movement analysis. However, joint centers cannot be directly palpated and alternative methods must be used. To assess the relative merits of these methods, a medical image based reference should be used. The EOS(®) system, a new low dose bi-planar X-rays imaging technique may be considered. The aim of this study was to evaluate the accuracy of hip joint center (HJC) localization using the EOS(®) system. Seventeen healthy young adults participated in the study. Femoral heads and pelvic external markers were localized using the EOS(®) system and the HJCs were expressed in the movement analysis coordinate system. Results showed that external marker localization was reliable within 0.15 mm for trained assessors. Mean accuracy for HJC localization was 2.9 mm (SD: 1.3, max: 6.2). The EOS based method therefore appeared reliable and may be used for femoral head localization or as a reference to assess the accuracy of other methods for HJC localization.

[Application of the musculo-skeletal modelling software lhpFusionBox to a paleoanthropological problem: the Spyrou Neandertal moves!]

LhpFusionBox is a program originally designed for biomechanical and clinical studies relating to the musculoskeletal system of anatomically modern humans (AMH). The program has recently been adapted for paleontological purposes and used to reconstruct and biomechanically analyse a fossil hominid. There is no complete Neandertal skeleton in the fossil record. The aim of the study was to reconstruct a complete three-dimensional (3D) model of a Neandertal using the relatively complete Spy II Neandertal and to conduct biomechanical feasibility studies on the knee and hamstring moment arms of the skeleton. Different Neandertal specimens were scaled to the size of Spy II to replace incomplete or missing bones. Biomechanical feasibility studies performed on the knee seem to show that Neandertal and AMHh gait is similar and Neandertals were shown to have larger moment arms in the hamstring muscles, which would have given them a mechanical advantage. The complete Neandertal was printed in 3D and used as the base to create the artistic model of "Spyrou" housed at l'Espace de l'Homme de Spy (EHoS) museum.

Influence of joint models on lower-limb musculo-tendon forces and three-dimensional joint reaction forces during gait

Several three-dimensional (3D) lower-limb musculo-skeletal models have been developed for gait analysis and different hip, knee and ankle joint models have been considered in the literature. Conversely to the influence of the musculo-tendon geometry, the influence of the joint models - i.e. number of degrees of freedom and passive joint moments - on the estimated musculo-tendon forces and 3D joint reaction forces has not been extensively examined.

In this paper musculo-tendon forces and 3D joint reaction forces have been estimated for one subject and one gait cycle with nine variations of a musculoskeletal model and outputs have been compared to measured electromyographic signals and knee joint contact forces. The model outputs are generally in line with the measured signals. However, the 3D joint reaction forces were higher than published values and the contact forces measured for the subject. The results of this study show that, with more degrees of freedom in the model, the musculo-tendon forces and the 3D joint reaction forces tend to increase but with some redistribution between the muscles. In addition, when taking into account passive joint moments, the 3D joint reaction forces tend to decrease during the stance phase and increase during the swing phase.

Although further investigations are needed, a five-degree-of-freedom lower-limb musculo-skeletal model with some angle-dependent joint coupling and stiffness seems to provide satisfactory musculo-tendon forces and 3D joint reaction forces.

A one-degree-of-freedom spherical mechanism for human knee joint modelling

In-depth comprehension of human knee kinematics is necessary in prosthesis and orthosis design and in surgical planning but requires complex mathematical models. Models based on one-degree-of-freedom equivalent mechanisms have replicated well the passive relative motion between the femur and tibia, i.e. the knee joint motion in virtually unloaded conditions. In these mechanisms, fibres within the anterior and posterior cruciate and medial collateral ligaments were taken as isometric and anatomical articulating surfaces as rigid. A new one-degree-of-freedom mechanism is analysed in the present study, which includes isometric fibres within the two cruciates and a spherical pair at the pivot point of the nearly spherical motion as measured for this joint. Bounded optimization was applied to the mechanism to refine parameter first estimates from experimental measurements on four lower-limb specimens and to best-fit the experimental motion of these knees. Relevant results from computer simulations were compared with those from one previous equivalent mechanism, which proved to be very accurate in a former investigation. The spherical mechanism represented knee motion with good accuracy, despite its simple structure. With respect to the previous more complex mechanism, the less satisfactory results in terms of replication of natural motion were counterbalanced by a reduction of computational costs, by an improvement in numerical stability of the mathematical model, and by a reduction of the overall mechanical complexity of the mechanism. These advantages can make the new mechanism preferable to the previous ones in certain applications, such as the design of prostheses, orthoses, and exoskeletons, and musculoskeletal modelling of the lower limb.

EOS orthopaedic imaging system to study patellofemoral kinematics: assessment of uncertainty

BACKGROUND

Accurate knowledge of knee joint kinematics, especially patellofemoral joint kinematics,is essential for prosthetic evaluation so as to further improve total knee arthroplasty performances. Improving the evaluation of the functioning of the extensor apparatus appears,in this respect, particularly important in this optimization effort.

OBJECTIVES

The aim of this study was to propose a new experimental setup for the analysis of knee joint kinematics and to validate its relevance in terms of accuracy and uncertainty.The technique developed herein combines 3D reconstruction imaging with the use of a motion capture system.

MATERIAL AND METHODS

Eight pairs of fresh-frozen cadaver specimens with no evidence of previous knee surgery were studied using a new test rig where the femur remains fixed and the tibia is free to rotate. The flexion-extension cycles were executed using computer-controlled traction of the quadriceps tendon combined with an antagonist force applied to the distal part of the tibia. Knee joint kinematics were tracked using an optoelectronic motion capture system after a preliminary stage of data acquisition of bone geometry and markers position. This stage was carried out using a new digital stereophotogrammetric system, EOS, combined with specific 3D reconstruction software that also determined the coordinate system used in the kinematic analysis. The resulting uncertainty was assessed as was its impact on the estimated kinematics.

RESULTS

Test results on eight knees validated the setup designed for the analysis of knee joint kinematics during the flexion-extension cycle. More specifically, the statistical results show that measurement uncertainty for rotations and translations remains below 0.4 and 1.8 mm,respectively, for the tibia and 0.4 and 1.2 mm for the patella (+/- 2 S.D. for all four measurements).

DISCUSSION

The combination of 3D imaging and motion capture enables the proposed method to track the real-time motion of any bone segment during knee flexion-extension cycle. In particular,the new test rig introduced in this paper allows in vitro measurements of the patello femoral and tibiofemoral kinematics with a good level of accuracy. Moreover, this personalized experimental analysis can provide a more objective approach to the evaluation of knee implants as well as the validation of the finite-elements-based models of the patellofemoral joint.

Determination of consistent patterns of range of motion in the ankle joint with a computed tomography stress-test

BACKGROUND

Measuring the range of motion of the ankle joint can assist in accurate diagnosis of ankle laxity. A computed tomography-based stress-test (3D CT stress-test) was used that determines the three-dimensional position and orientation of tibial, calcaneal and talar bones. The goal was to establish a quantitative database of the normal ranges of motion of the talocrural and subtalar joints. A clinical case on suspected subtalar instability demonstrated the relevance the proposed method.

METHODS

The range of motion was measured for the ankle joints in vivo for 20 subjects using the 3D CT stress-test. Motion of the tibia and calcaneus relative to the talus for eight extreme foot positions were described by helical parameters.

FINDINGS

High consistency for finite helical axis orientation (n) and rotation (theta) was shown for: talocrural extreme dorsiflexion to extreme plantarflexion (root mean square direction deviation (eta) 5.3 degrees and theta: SD 11.0 degrees), talorucral and subtalar extreme combined eversion-dorsiflexion to combined inversion-plantarflexion (eta: 6.7 degrees , theta: SD 9.0 degrees and eta:6.3 degrees , theta: SD 5.1 degrees), and subtalar extreme inversion to extreme eversion (eta: 6.4 degrees, theta: SD 5.9 degrees). Nearly all dorsi--and plantarflexion occurs in the talocrural joint (theta: mean 63.3 degrees (SD 11 degrees)). The inversion and internal rotation components for extreme eversion to inversion were approximately three times larger for the subtalar joint (theta: mean 22.9 degrees and 29.1 degrees) than for the talocrural joint (theta: mean 8.8 degrees and 10.7 degrees). Comparison of the ranges of motion of the pathologic ankle joint with the healthy subjects showed an increased inversion and axial rotation in the talocrural joint instead of in the suspected subtalar joint.

INTERPRETATION

The proposed diagnostic technique and the acquired database of helical parameters of ankle joint ranges of motion are suitable to apply in clinical cases.

Multiscale modelling of the skeleton for the prediction of the risk of fracture

BACKGROUND

The development of a multiscale model of the human musculoskeletal system able to accurately predict the risk of bone fracture is still a grand challenge. The aim of this paper is to present the Living Human Project, to describe the final system and to review the achievements obtained so far. The Living Human musculoskeletal supermodel is conceived as the interconnection of five interdependent sub-models: the continuum, the boundary condition, the constitutive equation, the remodelling history and the failure criterion sub-models.

METHODS

Methods are available to develop accurate subject-specific finite element models of bones that can incorporate the subject's tissue-density distribution and empirically derived constitutive laws. Anatomo-functional musculoskeletal models can be registered with gait analysis data to predict muscle and joint forces acting on the patient's skeleton during gait. These are the boundary conditions for the continuum models that showed an average error of 12% in the prediction of the failure load. Still, the entire supermodel is defined as a collection of procedural macros to predict the risk of fracture and should be improved.

FINDINGS

Even with these limitations, the organ-level model already found some clinically relevant applications, especially in the analysis of joint prostheses. Also, the body-organ level multiscale model finds some clinical applications in paediatric skeletal oncology. The tissue- and the cell-level models are not yet fully validated. Thus, they cannot be safely used in clinical applications.

INTERPRETATION

The continuum sub-model is the most mature model available. More powerful methods are needed for the generation of anatomo-functional musculoskeletal models. Muscle force prediction should be improved, investigating new probabilistic approaches to identify the neuro-motor strategy. The changes of the tissue properties in the various regions of the skeleton and predictive remodelling models should be included. An adequate information technology infrastructure should be developed to support collaborative work and integration of different sub-models.

Virtual palpation of skeletal landmarks with multimodal display interfaces

The 3D location of skeletal landmarks on CT datasets is an important procedure, used in many research and clinical contexts. The standard procedure involves the segmentation of the CT images, the creation of a 3D surface bone model, and the location of the landmarks on this surface. However, the segmentation is time-consuming and requires skilled operators and sophisticated software. The aim of the present study is to evaluate the efficacy of a multimodal display interface to direct volumetric interactive visualization in performing a virtual palpation task. An expert operator used the CT dataset of a patient's thigh region to locate 14 femoral skeletal landmarks. This operation was repeatedly performed using different CT data representation; the accuracy and repeatability were compared to those achievable with the conventional procedure based on the segmented 3D surface. When a multimodal display interface (formed by an orthogonal slice, RXCT and interactive isosurface views) was used to perform the virtual palpation directly on the CT data, the average coordinates of the landmarks did not differ significantly from those located on the 3D surface, and the measurement repeatability was actually better with the multimodal display of the volumetric data than with the 3D surface. Thus, we can conclude that skeletal virtual palpation can be performed directly on the CT dataset, as far as the virtual palpation is performed with a multimodal display interface.

The multimod application framework: a rapid application development tool for computer aided medicine

This paper describes a new application framework (OpenMAF) for rapid development of multimodal applications in computer-aided medicine. MAF applications are multimodal in data, in representation, and in interaction. The framework supports almost any type of biomedical data, including DICOM datasets, motion-capture recordings, or data from computer simulations (e.g. finite element modeling). The interactive visualization approach (multimodal display) helps the user interpret complex datasets, providing multiple representations of the same data. In addition, the framework allows multimodal interaction by supporting the simultaneous use of different input-output devices like 3D trackers, stereoscopic displays, haptics hardware and speech recognition/synthesis systems. The Framework has been designed to run smoothly even on limited power computers, but it can take advantage of all hardware capabilities. The Framework is based on a collection of portable libraries and it can be compiled on any platform that supports OpenGL, including Windows, MacOS X and any flavor of Unix/linux.