Hip joint centre location: An ex vivo study

A marker-based approach to determine the centers of rotation of finger joints

BACKGROUND AND OBJECTIVE

The methods proposed in literature to estimate the position of hand joints Centers of Rotation (CoRs) typically require computationally non-trivial optimization routines and exploit a high number of markers to calculate CoRs positions from surface marker trajectories. Moreover, most of the existing works evaluated the accuracy only in simulation. This work proposes a new procedure, based on the Pratt circle fit, to estimate joints CoRs position in 2D through marker-based acquisitions.

METHODS

The advantage of the Pratt circle fit lies in its simplicity and computational speed, and in the possibility of exploiting a reduced markerset for calculating CoRs. By applying simplifying assumptions regarding the movement of the fingers (i.e., planar and decoupled flexion-extension movements of each joint occurring in the same flexion plane for all the joints of the finger), it is possible to determine the position of the CoR of each joint in 2D. For this reason, the estimation of the Carpo-MetaCarpal joint of the thumb was not included in this work, as it exhibits a more complex movement associated to the combination of a flexion-extension and adduction-abduction degree of freedom. The errors in estimating CoRs were evaluated by conducting experimental acquisitions on an anthropomorphic robotic hand and comparing the position of the estimated CoR with the real position of the CoR. The repeatability of the method and its capability to estimate anatomically plausible CoRs were evaluated through experimental acquisitions conducted on five healthy volunteers.

RESULTS

Errors in estimating finger joints CoRs were in the order of 0.70 mm and 0.18 mm respectively along the finger longitudinal direction (i.e., x coordinate) and thickness (i.e., y coordinate). Standard Deviations of CoRs positions were comparable to the ones obtained in literature (i.e., below 2 mm and 1 mm respectively for the x and y coordinates), thus demonstrating the repeatability of the method. The Anatomical Plausibility Rate of the proposed approach was between 80% and 100%.

CONCLUSIONS

The performance of the Pratt-based CoRs estimation procedure proposed in this work was comparable to other existing methods, with the advantage of exploiting a simple fitting algorithm and a reduced markerset with respect to the state-of-the-art techniques.

Estimating soft tissue artifact of the thigh in high knee flexion tasks using optical motion Capture: Implications for marker cluster placement

Soft tissue artifact in motion capture is widely accepted as a significant source of error in kinematic and kinetic measurements. Non-invasive methods of estimating soft tissue artifact, those requiring only motion capture, provide a feasible method to evaluate marker placement on a segment and enable recommendations for marker configurations which can minimize soft tissue artifact. The purpose of this study was to investigate the effect of thigh marker cluster location on soft tissue artifact during high knee flexion (>120 deg) as unique deformation of soft tissue occurs in this range (e.g. thigh-calf contact). Motion of the pelvis and lower limbs were recorded during squatting and kneeling in fifty participants. Six rigid marker clusters were affixed to the skin on the anterior, lateral, and anterolateral aspect, at the distal and middle third of the thighs. To estimate soft tissue artifact, the functional hip joint center was reconstructed relative to the pelvis cluster and each of the six thigh clusters throughout motion. The difference in the position of these two points was input into Bland-Altman analyses and compared between the thigh clusters. Across the tasks, the total mean difference ranged from 2.81 to 8.95 cm while the lower and upper limits of agreement ranged from -0.79 to 2.54 cm and 5.04 to 17.65 cm, respectively. Using this non-invasive method, the mid-anterolateral cluster was least susceptible to soft tissue artifact and thus would be recommended, while the lateral clusters were most susceptible and should avoided in high knee flexion and similar tasks.

A Normative Database of Hip and Knee Joint Biomechanics During Dynamic Tasks Using Four Functional Methods With Three Functional Calibration Tasks

Although predicted hip joint center (HJC) locations are known to vary widely between functional methods, no previous investigation has detailed functional method-dependent hip and knee biomechanics. The purpose of this study was to define a normative database of hip joint biomechanics during dynamic movements based upon functional HJC methods and calibration tasks. Thirty healthy young adults performed arc, star arc, and two-sided calibration tasks. Motion capture and ground reaction forces were collected during walking, running, and single-leg landings (SLLs). Two sphere-fit (geometric and algebraic) and two coordinate transformation techniques were implemented using each calibration (12 total method-calibration combinations). Surprisingly, the geometric fit-two-sided model placed the HJC at the midline of the pelvis and above the iliac spines, and thus was removed from analyses. A database of triplanar hip and knee kinematics and hip moments and powers was constructed using the mean of all subjects for the eleven method-calibration combinations. A nested analysis of variance approach compared calibration [method] peak hip kinematics and kinetics. Most method differences existed between geometric fit and coordinate transformations (58 of 84 total). No arc-star arc differences were found. Thirty-two differences were found between the two-sided and arc/star arc calibrations. This database of functional method based hip and knee biomechanics serves as an important reference point for interstudy comparisons. Overall, this study illustrates that functional HJC method can dramatically impact hip biomechanics and should be explicitly detailed in future work.

ISB recommendations on the reporting of intersegmental forces and moments during human motion analysis

The International Society of Biomechanics (ISB) has charged this committee with development of a standard similar in scope to the kinematic standard proposed in Wu et al. (2002) and Wu et al. (2005). Given the variety of purposes for which intersegmental forces and moments are used in biomechanical research, it is not possible to recommend a particular set of analysis standards that will be acceptable in all applications. Instead, it is the purpose of this paper to recommend a set of reporting standards that will result in an understanding of the differences between investigations and the ability to reproduce the research. The end products of this standard are (1) a critical checklist that can be used during submission of manuscripts and abstracts to insure adequate description of methods, and (2) a web based visualization tool that can be used to alter the coordinate system, normalization technique and internal/external perspective of intersegmental forces and moments during walking and running so that the shape and magnitude of the curves can be compared to one's own data.

Evaluation of functional methods of joint centre determination for quasi-planar movement

Functional methods identify joint centres as the centre of rotation (CoR) of two adjacent movements during an ad-hoc movement. The methods have been used for functionally determining hip joint centre in gait analysis and have revealed advantages compared to predictive regression techniques. However, the current implementation of functional methods hinders its application in clinical use when subjects have difficulties performing multi-plane movements over the required range. In this study, we systematically investigated whether functional methods can be used to localise the CoR during a quasi-planar movement. The effects of the following factors were analysed: the algorithms, the range and speed of the movement, marker cluster location, marker cluster size and distance to the joint centre. A mechanical linkage was used in our study to isolate the factors of interest and give insight to variation in implementation of functional methods. Our results showed the algorithms and cluster locations significantly affected the estimate results. For all algorithms, a significantly positive relationship between CoR errors and the distance of proximal cluster coordinate location to the joint centre along the medial-lateral direction was observed while the distal marker clusters were best located as close as possible to the joint centre. By optimising the analytical and experimental factors, the transformation algorithms achieved a root mean square error (RMSE) of 5.3 mm while the sphere fitting methods yielded the best estimation with an RMSE of 2.6 mm. The transformation algorithms performed better in presence of random noise and simulated soft tissue artefacts.

Methodological factors affecting joint moments estimation in clinical gait analysis: a systematic review

Quantitative gait analysis can provide a description of joint kinematics and dynamics, and it is recognized as a clinically useful tool for functional assessment, diagnosis and intervention planning. Clinically interpretable parameters are estimated from quantitative measures (i.e. ground reaction forces, skin marker trajectories, etc.) through biomechanical modelling. In particular, the estimation of joint moments during motion is grounded on several modelling assumptions: (1) body segmental and joint kinematics is derived from the trajectories of markers and by modelling the human body as a kinematic chain; (2) joint resultant (net) loads are, usually, derived from force plate measurements through a model of segmental dynamics. Therefore, both measurement errors and modelling assumptions can affect the results, to an extent that also depends on the characteristics of the motor task analysed (i.e. gait speed). Errors affecting the trajectories of joint centres, the orientation of joint functional axes, the joint angular velocities, the accuracy of inertial parameters and force measurements (concurring to the definition of the dynamic model), can weigh differently in the estimation of clinically interpretable joint moments. Numerous studies addressed all these methodological aspects separately, but a critical analysis of how these aspects may affect the clinical interpretation of joint dynamics is still missing. This article aims at filling this gap through a systematic review of the literature, conducted on Web of Science, Scopus and PubMed. The final objective is hence to provide clear take-home messages to guide laboratories in the estimation of joint moments for the clinical practice.

A sphere fitting approach to determine the hip joint centre of the horse

Accurate identification of the hip joint centre (HJC) is crucial for the correct estimation of knee and hip joint loads and kinematics, which is particularly relevant in orthopaedic surgery and musculoskeletal modelling. Several methods have been described for calculation of the HJC in humans, however, no studies have used these methods in the horse despite a similar need for improved evaluation of hip joint biomechanics in rehabilitation and musculoskeletal modelling. This preliminary study uses the commonly used functional method (least-squares sphere fit) to determine the HJC in three equid cadavers. Bone pins with reflective markers attached were drilled into the tuber coxae (TC), tuber ischium (TI), tuber sacrale (TS), greater trochanter (GT), third trochanter (TT) and lateral femoral condyle (FC) of the uppermost limb of the cadavers positioned in lateral recumbency. Three repetitions of passive movements consisting of pro-and retraction, ab- and adduction and circumduction were performed. The HJC was calculated using a least-squares sphere fitting method and presented as a distance from the TC based on a percentage of the TC to TI vector magnitude. Mean (± standard deviation) of the HJC is located 52.4% (± 3.9) caudally, 0.2% (± 6.5) dorsally, and 19.8% (± 4.2) medially from the TC. This study is the first to quantify the HJC in horses ex vivo using a functional method. Further work (in vivo and imaging) is required to validate the findings of the present study.

In vivo estimation of the shoulder joint center of rotation using magneto-inertial sensors: MRI-based accuracy and repeatability assessment

Background

The human gleno-humeral joint is normally represented as a spherical hinge and its center of rotation is used to construct humerus anatomical axes and as reduction point for the computation of the internal joint moments. The position of the gleno-humeral joint center (GHJC) can be estimated by recording ad hoc shoulder joint movement following a functional approach. In the last years, extensive research has been conducted to improve GHJC estimate as obtained from positioning systems such as stereo-photogrammetry or electromagnetic tracking. Conversely, despite the growing interest for wearable technologies in the field of human movement analysis, no studies investigated the problem of GHJC estimation using miniaturized magneto-inertial measurement units (MIMUs). The aim of this study was to evaluate both accuracy and precision of the GHJC estimation as obtained using a MIMU-based methodology and a functional approach.

Methods

Five different functional methods were implemented and comparatively assessed under different experimental conditions (two types of shoulder motions: cross and star type motion; two joint velocities: ω_max = 90°/s, 180°/s; two ranges of motion: Ɵ = 45°, 90°). Validation was conducted on five healthy subjects and true GHJC locations were obtained using magnetic resonance imaging.

Results

The best performing methods (NAP and SAC) showed an accuracy in the estimate of the GHJC between 20.6 and 21.9 mm and repeatability values between 9.4 and 10.4 mm. Methods performance did not show significant differences for the type of arm motion analyzed or a reduction of the arm angular velocity (180°/s and 90°/s). In addition, a reduction of the joint range of motion (90° and 45°) did not seem to influence significantly the GHJC position estimate except in a few subject-method combinations.

Conclusions

MIMU-based functional methods can be used to estimate the GHJC position in vivo with errors of the same order of magnitude than those obtained using traditionally stereo-photogrammetric techniques. The methodology proposed seemed to be robust under different experimental conditions. The present paper was awarded as “SIAMOC Best Methodological Paper 2016”.

Reliability of functional and predictive methods to estimate the hip joint centre in human motion analysis in healthy adults

In human motion analysis predictive or functional methods are used to estimate the location of the hip joint centre (HJC). It has been shown that the Harrington regression equations (HRE) and geometric sphere fit (GSF) method are the most accurate predictive and functional methods, respectively. To date, the comparative reliability of both approaches has not been assessed. The aims of this study were to (1) compare the reliability of the HRE and the GSF methods, (2) analyse the impact of the number of thigh markers used in the GSF method on the reliability, (3) evaluate how alterations to the movements that comprise the functional trials impact HJC estimations using the GSF method, and (4) assess the influence of the initial guess in the GSF method on the HJC estimation. Fourteen healthy adults were tested on two occasions using a three-dimensional motion capturing system. Skin surface marker positions were acquired while participants performed quite stance, perturbed and non-perturbed functional trials, and walking trials. Results showed that the HRE were more reliable in locating the HJC than the GSF method. However, comparison of inter-session hip kinematics during gait did not show any significant difference between the approaches. Different initial guesses in the GSF method did not result in significant differences in the final HJC location. The GSF method was sensitive to the functional trial performance and therefore it is important to standardize the functional trial performance to ensure a repeatable estimate of the HJC when using the GSF method.

Standardization proposal of soft tissue artefact description for data sharing in human motion measurements

Soft tissue artefact (STA) represents one of the main obstacles for obtaining accurate and reliable skeletal kinematics from motion capture. Many studies have addressed this issue, yet there is no consensus on the best available bone pose estimator and the expected errors associated with relevant results. Furthermore, results obtained by different authors are difficult to compare due to the high variability and specificity of the phenomenon and the different metrics used to represent these data. Therefore, the aim of this study was twofold: firstly, to propose standards for description of STA; and secondly, to provide illustrative STA data samples for body segments in the upper and lower extremities and for a range of motor tasks specifically, level walking, stair ascent, sit-to-stand, hip- and knee-joint functional movements, cutting motion, running, hopping, arm elevation and functional upper-limb movements. The STA dataset includes motion of the skin markers measured in vivo and ex vivo using stereophotogrammetry as well as motion of the underlying bones measured using invasive or bio-imaging techniques (i.e., X-ray fluoroscopy or MRI). The data are accompanied by a detailed description of the methods used for their acquisition, with information given about their quality as well as characterization of the STA using the proposed standards. The availability of open-access and standard-format STA data will be useful for the evaluation and development of bone pose estimators thus contributing to the advancement of three-dimensional human movement analysis and its translation into the clinical practice and other applications.

Estimation of the center of rotation using wearable magneto-inertial sensors

Determining the center of rotation (CoR) of joints is fundamental to the field of human movement analysis. CoR can be determined using a magneto-inertial measurement unit (MIMU) using a functional approach requiring a calibration exercise. We systematically investigated the influence of different experimental conditions that can affect precision and accuracy while estimating the CoR, such as (a) angular joint velocity, (b) distance between the MIMU and the CoR, (c) type of the joint motion implemented, (d) amplitude of the angular range of motion, (e) model of the MIMU used for data recording, (f) amplitude of additive noise on inertial signals, and (g) amplitude of the errors in the MIMU orientation. The evaluation process was articulated at three levels: assessment through experiments using a mechanical device, mathematical simulation, and an analytical propagation model of the noise. The results reveal that joint angular velocity significantly impacted CoR identification, and hence, slow joint movement should be avoided. An accurate estimation of the MIMU orientation is also fundamental for accurately subtracting the contribution owing to gravity to obtain the coordinate acceleration. The unit should be preferably attached close to the CoR, but both type and range of motion do not appear to be critical. When the proposed methodology is correctly implemented, error in the CoR estimates is expected to be <3mm (best estimates=2±0.5mm). The findings of the present study foster the need to further investigate this methodology for application in human subjects.

Validation of hip joint center localization methods during gait analysis using 3D EOS imaging in typically developing and cerebral palsy children

Localization of the hip joint center (HJC) is essential in computation of gait data. EOS low dose biplanar X-rays have been shown to be a good reference in evaluating various methods of HJC localization in adults. The aim is to evaluate predictive and functional techniques for HJC localization in typically developing (TD) and cerebral palsy (CP) children, using EOS as an image based reference. Eleven TD and 17 CP children underwent 3D gait analysis. Six HJC localization methods were evaluated in each group bilaterally: 3 predictive (Plug in Gait, Bell and Harrington) and 3 functional methods based on the star arc technique (symmetrical center of rotation estimate, center transformation technique and geometrical sphere fitting). All children then underwent EOS low dose biplanar radiographs. Pelvis, lower limbs and their corresponding external markers were reconstructed in 3D. The center of the femoral head was considered as the reference (HJCEOS). Euclidean distances between HJCs estimated by each of the 6 methods and the HJCEOS were calculated; distances were shown to be lower in predictive compared to functional methods (p<0.0001). Contrarily to findings in adults, functional methods were shown to be less accurate than predictive methods in TD and CP children, which could be mainly due to the shorter thigh segment in children. Harrington method was shown to be the most accurate in the prediction of HJC (mean error≈18mm, SD=9mm) and quasi-equivalent to the Bell method. The bias for each method was quantified, allowing its correction for an improved HJC estimation.

Evaluation of Anatomical and Functional Hip Joint Center Methods: The Effects of Activity Type, Gender, and Proximal Reference Segment

Accurate hip joint center (HJC) location is critical when studying hip joint biomechanics. The HJC is often determined from anatomical methods, but functional methods are becoming increasingly popular. Several studies have examined these methods using simulations and in vivo gait data, but none has studied high-range of motion activities, such a chair rise, nor has HJC prediction been compared between males and females. Furthermore, anterior superior iliac spine (ASIS) marker visibility during chair rise can be problematic, requiring a sacral cluster as an alternative proximal segment; but functional HJC has not been explored using this approach. For this study, the quality of HJC measurement was based on the joint gap error (JGE), which is the difference in global HJC between proximal and distal reference segments. The aims of the present study were to: (1) determine if JGE varies between pelvic and sacral referenced HJC for functional and anatomical methods, (2) investigate which functional calibration motion results in the lowest JGE and if the JGE varies depending on movement type (gait versus chair rise) and gender, and (3) assess whether the functional HJC calibration results in lower JGE than commonly used anatomical approaches and if it varies with movement type and gender. Data were collected on 39 healthy adults (19 males and 20 females) aged 14–50 yr old. Participants performed four hip “calibration” tests (arc, cross, star, and star-arc), as well as gait and chair rise (activities of daily living (ADL)). Two common anatomical methods were used to estimate HJC and were compared to HJC computed using a published functional method with the calibration motions above, when using pelvis or sacral cluster as the proximal reference. For ADL trials, functional methods resulted in lower JGE (12–19 mm) compared to anatomical methods (13–34 mm). It was also found that women had significantly higher JGE compared to men and JGE was significantly higher for chair rise compared to gait, across all methods. JGE for sacrum referenced HJC was consistently higher than for the pelvis, but only by 2.5 mm. The results indicate that dynamic hip range of movement and gender are significant factors in HJC quality. The findings also suggest that a rigid sacral cluster for HJC estimation is an acceptable alternative for relying solely on traditional pelvis markers.

Importance of maintaining the basic stress pathway above the acetabular dome during acetabular reconstruction

The basic stress pathway above the acetabular dome is important for the maintenance of implant stability in press-fit acetabular reconstruction of total hip arthroplasty. However, information on the basic stress pathway and its impact factors remains unclear. The objective of this study was to investigate the effects of the orientations and positions of the acetabular component on the basic stress pathway. The basic stress pathway above the acetabular dome was defined as two parts: 3D basic trabecular bone stress distribution and quantified basic cortical bone stress level, using two subject-specific finite element normal hip models. The effects were then analysed by generating 32 reconstructed acetabular cases with different cup abduction and anteversion angles within a range of 35-50° and 10-25°, respectively, and 12 cases with different hip centre heights within a range of 0-15 mm above the acetabular dome. The 3D trabecular stress distribution decreased remarkably in all cases, while the 80% of the basic cortical bone stress level was maintained in cases when the acetabular component was positioned at 10° or 15° anteversion and 40° or 45° abduction angles. The basic stress pathway above the acetabular dome was disturbed when the superior displacement of the hip centre exceeded 5 mm above the anatomical hip centre. Positioning the acetabular component correctly contributes to maintain the stress balance between the acetabular cup and the bone during acetabular reconstruction, thus helping restore the normal hip biomechanics and preserve the stability of the implants.

Estimation of the hip joint centre in human motion analysis: a systematic review

BACKGROUND

Inaccuracies in locating the three-dimensional position of the hip joint centre affect the calculated hip and knee kinematics, force- and moment-generating capacity of muscles and hip joint mechanics, which can lead to incorrect interpretations and recommendations in gait analysis. Several functional and predictive methods have been developed to estimate the hip joint centre location, and the International Society of Biomechanics recommends a functional approach for use with participants that have adequate range of motion at the hip, and predictive methods in those with insufficient range of motion. The purpose of the current systematic review was to substantiate the International Society of Biomechanics recommendations. This included identifying the most accurate functional and predictive methods, and defining 'adequate' range of motion.

METHODS

A systematic search with broad search terms was performed including five databases.

FINDINGS

The systematic search yielded to 801 articles, of which 34 papers were included. Eleven different predictive and 13 different functional methods were identified. The results showed that the geometric sphere fit method and Harrington equations are the most accurate functional and predictive approaches respectively that have been evaluated in vivo.

INTERPRETATION

In regard to the International Society of Biomechanics recommendations, the geometric sphere fit method should be used in people with sufficient active hip range of motion and the Harrington equations should be used in patients without sufficient hip range of motion. Multi-plane movement trials with at least 60° of flexion-extension and 30° of ab-adduction range of motion are suggested when using functional methods.

Hip joint centre position estimation using a dual unscented Kalman filter for computer-assisted orthopaedic surgery

In computer-assisted knee surgery, the accuracy of the localization of the femur centre of rotation relative to the hip-bone (hip joint centre) is affected by the unavoidable and untracked pelvic movements because only the femoral pose is acquired during passive pivoting manoeuvres. We present a dual unscented Kalman filter algorithm that allows the estimation of the hip joint centre also using as input the position of a pelvic reference point that can be acquired with a skin marker placed on the hip, without increasing the invasiveness of the surgical procedure. A comparative assessment of the algorithm was carried out using data provided by in vitro experiments mimicking in vivo surgical conditions. Soft tissue artefacts were simulated and superimposed onto the position of a pelvic landmark. Femoral pivoting made of a sequence of star-like quasi-planar movements followed by a circumduction was performed. The dual unscented Kalman filter method proved to be less sensitive to pelvic displacements, which were shown to be larger during the manoeuvres in which the femur was more adducted. Comparable accuracy between all the analysed methods resulted for hip joint centre displacements smaller than 1 mm (error: 2.2 ± [0.2; 0.3] mm, median ± [inter-quartile range 25%; inter-quartile range 75%]) and between 1 and 6 mm (error: 4.8 ± [0.5; 0.8] mm) during planar movements. When the hip joint centre displacement exceeded 6 mm, the dual unscented Kalman filter proved to be more accurate than the other methods by 30% during multi-planar movements (error: 5.2 ± [1.2; 1] mm).

A soft tissue artefact model driven by proximal and distal joint kinematics

When analysing human movement through stereophotogrammetry, skin-markers are used. Their movement relative to the underlying bone is known as a soft tissue artefact (STA). A mathematical model to estimate subject- and marker-specific STAs generated during a given motor task, is required for both skeletal kinematic estimators and comparative assessment using simulation. This study devises and assesses such a mathematical model using the paradigmatic case of thigh STAs. The model was based on two hypotheses: (1) that the artefact mostly depends on skin sliding, and thus on the angles of hip and knee; (2) that the relevant relationship is linear. These hypotheses were tested using data obtained from passive hip and knee movements in non-obese specimens and from running volunteers endowed with both skin- and pin-markers. Results showed that the proposed model could be calibrated with small residuals and that the thigh artefacts were mostly due to skin sliding, not only ex-vivo, as expected, but also in-vivo. This was corroborated by the observation that in-vivo, the portion of the artefact not reconstructed by the model fell within a frequency band compatible with soft tissue wobbling and carried a relatively small portion of total mean power (13%, on average). Thus, the architecture of our model is feasible both ex-vivo and in-vivo and can, in principle, be used in skeletal kinematics estimators. The generalizability of a calibrated model across different movements was proved doable, albeit limited to movement patterns similar to those of the calibration movement, even if joint rotation ranges can be remarkably different. Therefore, such a calibrated model can be used for generating realistic STAs for simulation purposes.

Which method of hip joint centre localisation should be used in gait analysis?

Accurate localisation of the hip joint centre is required to obtain accurate kinematics, kinetics and musculoskeletal modelling results. Literature data showed that conclusions drawn from synthetic data, adult normal subjects and cerebral palsy children may vary markedly. This study investigated the localisation accuracy of the hip joint centre against EOS. The EOS system allowed us to register the hip joint centres with respect to the skin markers on standing subjects. A comprehensive set of predictive and functional calibration techniques were tested. For the functional calibration techniques, our results showed that algorithm, range of motion and self-performance of the movement were factors significantly affecting the results. Best results were obtained for comfortable range and self-performance of the movement. The best method in this scenario was the functional geometrical sphere fitting method which localised the hips 1.1cm from the EOS reference in average and 100% of the time within 3 cm. Worst results for functional calibration methods occurred when the movement was assisted with a reduced range of movement. The best method in this scenario was the Harrington et al. regression equations since it does not rely on a functional calibration movement. Harrington et al. equations put the hips 1.7 cm from the EOS reference in average and 97% of the time within 3 cm. We conclude that accurate localisation of the hip joint centre is possible in gait analysis providing that method to localise the hip joint centres are adapted to the population studied: functional geometrical sphere fitting when hip calibration movements are not a problem and Harrington et al. predictive equations otherwise.

Propagation of soft tissue artifacts to the center of rotation: a model for the correction of functional calibration techniques

This paper presents a mathematical model for the propagation of errors in body segment kinematics to the location of the center of rotation. Three functional calibration techniques, usually employed for the gleno-humeral joint, are studied: the methods based on the pivot of the instantaneous helical axis (PIHA) or the finite helical axis (PFHA), and the "symmetrical center of rotation estimation" (SCoRE). A procedure for correcting the effect of soft tissue artifacts is also proposed, based on the equations of those techniques and a model of the artifact, like the one that can be obtained by double calibration. An experiment with a mechanical analog was performed to validate the procedure and compare the performance of each technique. The raw error (between 57 and 68mm) was reduced by a proportion of between 1:6 and less than 1:15, depending on the artifact model and the mathematical method. The best corrections were obtained by the SCoRE method. Some recommendations about the experimental setup for functional calibration techniques and the choice of a mathematical method are derived from theoretical considerations about the formulas and the results of the experiment.

Displacement of the hip center of rotation after arthroplasty of Crowe III and IV dysplasia: a radiological and biomechanical study

To study the direction and biomechanical consequences of hip center of rotation (HCOR) migration in Crowe type III and VI hips after total hip arthroplasty, post-operative radiographs and CT scans of several unilaterally affected hips were evaluated. Using a three-dimensional model of the human hip, the HCOR was moved in all directions, and joint reaction force (JRF) and abductor muscle force (AMF) were calculated for single-leg stance configuration. Comparing to the normal side, HCOR had displaced medially and inferiorly by an average of 23.4% and 20.8%, respectively, of the normal femoral head diameter. Significant decreases in JRF (13%) and AMF (46.13%) were observed in a presumptive case with that amount of displacement. Isolated inferior displacement had a small, increasing effect on these forces. In Crowe type III and IV hips, the HCOR migrates inferiorly and medially after THA, resulting in a decrease in JRF, AMF, and abductor muscle contraction force.

Using a calliper to restore the centre of the femoral head during total hip replacement

Restoration of leg length and offset is an important goal in total hip replacement. This paper reports a calliper-based technique to help achieve these goals by restoring the location of the centre of the femoral head. This was validated first by using a co-ordinate measuring machine to see how closely the calliper technique could record and restore the centre of the femoral head when simulating hip replacement on Sawbone femur, and secondly by using CT in patients undergoing hip replacement. Results from the co-ordinate measuring machine showed that the centre of the femoral head was predicted by the calliper to within 4.3 mm for offset (mean 1.6 (95% confidence interval (CI) 0.4 to 2.8)) and 2.4 mm for vertical height (mean -0.6 (95% CI -1.4 to 0.2)). The CT scans showed that offset and vertical height were restored to within 8 mm (mean -1 (95% CI -2.1 to 0.6)) and -14 mm (mean 4 (95% CI 1.8 to 4.3)), respectively. Accurate assessment and restoration of the centre of the femoral head is feasible with a calliper. It is quick, inexpensive, simple to use and can be applied to any design of femoral component.

Lower-limb joint coordination pattern in obese subjects

The coordinative pattern is an important feature of locomotion that has been studied in a number of pathologies. It has been observed that adaptive changes in coordination patterns are due to both external and internal constraints. Obesity is characterized by the presence of excess mass at pelvis and lower-limb areas, causing mechanical constraints that central nervous system could manage modifying the physiological interjoint coupling relationships. Since an altered coordination pattern may induce joint diseases and falls risk, the aim of this study was to analyze whether and how coordination during walking is affected by obesity. We evaluated interjoint coordination during walking in 25 obese subjects as well as in a control group. The time-distance parameters and joint kinematics were also measured. When compared with the control group, obese people displayed a substantial similarity in joint kinematic parameters and some differences in the time-distance and in the coupling parameters. Obese subjects revealed higher values in stride-to-stride intrasubjects variability in interjoint coupling parameters, whereas the coordinative mean pattern was unaltered. The increased variability in the coupling parameters is associated with an increased risk of falls and thus should be taken into account when designing treatments aimed at restoring a normal locomotion pattern.

The accuracy of the use of functional hip motions on localization of the center of the hip

BACKGROUND

The hip joint is generally considered a ball-and-socket joint, the center of which is used as an anatomic landmark in functional analyses and by surgical navigation systems. The location of the hip center has been estimated using functional techniques using various limb motions. However, it is not clear which specific motions best predicted the functional center.

PURPOSE

This study aims to compare the predicted functional center of the hip evaluated from multiplanar circumduction and star motions, and to compare this functional center with the geometric center.

METHODS

Eight hips in four fresh-frozen cadavers were used and verified as morphologically normal in CT scans. Three-dimensional motion of each lower limb was recorded using arrays of reflective markers rigidly attached to the femur and pelvis. Each hip was manipulated to produce circumduction or star motion, i.e., abduction-adduction and flexion extension. The hip was then dissected and the bearing surface traced with a probe, from which a best-fit sphere was calculated. The functional center was calculated from the motion data and compared to the geometric technique.

RESULTS

There was no difference between the functional hip center predicted by circumduction or star motions, although this was offset from the geometric hip center by up to 14 mm. For all except two hips, the functional center was less than 6 mm from the geometric hip in each anatomic direction. Test-retest differences were smaller for circumduction than for star motions.

CONCLUSIONS

Estimation of the hip center based on motion of the femur relative to the pelvis could localize the geometric center of the joint within 14 mm and circumduction motions were more repeatable.

CLINICAL RELEVANCE

Many surgical navigation systems make use of the functional hip center as a landmark for alignment or reconstruction. Errors associated with this would have a very minor influence in lower limb alignment, e.g., for knee reconstruction, but could affect proximal femoral geometry relevant to hip reconstruction.

Hip joint centre localization: Evaluation on normal subjects in the context of gait analysis

Locating the position of the hip joint centre (HJC) is an important part of lower limb modeling for gait analysis. Regression equations have been used in the past but a range of functional calibration methods are now available. This study compared the accuracy of HJC localization from two sets of regression equations and five different functional calibration methods against three dimensional ultrasound (3-DUS) on a population of 19 able bodied subjects. Results show that the geometric sphere fitting technique was the best performer with mean absolute distance error of 15mm and 85% of measurements being within 20mm. The results also show that widely used regression equations perform particularly badly whereas the most recent equations performed very closely to the best functional method with a mean absolute error of 16mm and 88% of measurements being within 20mm. In vivo results are more than an order of magnitude worse than predictions using synthetic data suggesting that additional work is required before soft tissue artifact can be effectively modelled.

Comparison of two methods for in vivo estimation of the glenohumeral joint rotation center (GH-JRC) of the patients with shoulder hemiarthroplasty

Determination of an accurate glenohumeral-joint rotation center (GH-JRC) from marker data is essential for kinematic and dynamic analysis of shoulder motions. Previous studies have focused on the evaluation of the different functional methods for the estimation of the GH-JRC for healthy subjects. The goal of this paper is to compare two widely used functional methods, namely the instantaneous helical axis (IHA) and symmetrical center of rotation (SCoRE) methods, for estimating the GH-JRC in vivo for patients with implanted shoulder hemiarthroplasty. The motion data of five patients were recorded while performing three different dynamic motions (circumduction, abduction, and forward flexion). The GH-JRC was determined using the CT-images of the subjects (geometric GH-JRC) and was also estimated using the two IHA and SCoRE methods. The rotation centers determined using the IHA and SCoRE methods were on average 1.47±0.62 cm and 2.07±0.55 cm away from geometric GH-JRC, respectively. The two methods differed significantly (two-tailed p-value from paired t-Test ∼0.02, post-hoc power ∼0.30). The SCoRE method showed a significant lower (two-tailed p-value from paired t-Test ∼0.03, post-hoc power ∼0.68) repeatability error calculated between the different trials of each motion and each subject and averaged across all measured subjects (0.62±0.10 cm for IHA vs. 0.43±0.12 cm for SCoRE). It is concluded that the SCoRE appeared to be a more repeatable method whereas the IHA method resulted in a more accurate estimation of the GH-JRC for patients with endoprostheses.

Evaluation of formal methods in hip joint center assessment: an in vitro analysis

BACKGROUND

The hip joint center is a fundamental landmark in the identification of lower limb mechanical axis; errors in its location lead to substantial inaccuracies both in joint reconstruction and in gait analysis. Actually in Computer Aided Surgery functional non-invasive procedures have been tested in identifying this landmark, but an anatomical validation is scarcely discussed.

METHODS

A navigation system was used to acquire data on eight cadaveric hips. Pivoting functional maneuver and hip joint anatomy were analyzed. Two functional methods - both with and without using the pelvic tracker - were evaluated: specifically a sphere fit method and a transformation techniques. The positions of the estimated centers with respect to the anatomical center of the femoral head, the influence of this deviation on the kinematic assessment and on the identification of femoral mechanical axis were analyzed.

FINDINGS

We found that the implemented transformation technique was the most reliable estimation of hip joint center, introducing a - Mean (SD) - difference of 1.6 (2.7) mm from the anatomical center with the pelvic tracker, whereas sphere fit method without it demonstrated the lowest accuracy with 25.2 (18.9) mm of deviation. Otherwise both the methods reported similar accuracy (<3mm of deviation).

INTERPRETATION

The functional estimations resulted in the best case to be in an average of less than 2mm from the anatomical center, which corresponds to angular deviations of the femoral mechanical axis smaller than 1.7 (1.3) degrees and negligible errors in kinematic assessment of angular displacements.

Is the human acetabulofemoral joint spherical?

The human acetabulofemoral joint is commonly modelled as a pure ball-and-socket joint, but there has been no quantitative assessment of this assumption in the literature. Our aim was to test the limits and validity of this hypothesis. We performed experiments on four adult cadavers. Cortical pins, each equipped with a marker cluster, were implanted in the pelvis and the femur. Movements were recorded using stereophotogrammetry while an operator rotated the cadaver’s acetabulofemoral joint, exploiting the widest possible range of movement. The functional consistency of the acetabulofemoral joint as a pure spherical joint was assessed by comparing the magnitude of the translations of the hip joint centre as obtained on cadavers, with the centre of rotation of two metal segments linked through a perfectly spherical hinge. The results showed that the radii of the spheres containing 95% of the positions of the estimated centres of rotation were separated by less than 1 mm for both the acetabulofemoral joint and the mechanical spherical hinge.

Therefore, the acetabulofemoral joint can be modelled as a spherical joint within the considered range of movement (flexion/extension 20° to 70°; abduction/adduction 0° to 45°; internal/external rotation 0° to 30°).

Characteristic gait patterns in older adults with obesity--results from the Baltimore Longitudinal Study of Aging

Obesity in older adults is a growing public health problem. Excess weight causes biomechanical burden to lower extremity joints and contribute to joint pathology. The aim of this study was to identify specific characteristics of gait associated with body mass index (BMI). Preferred and maximum speed walking and related gait characteristics were examined in 164 (50-84 years) participants from Baltimore Longitudinal Study of Aging (BLSA) able to walk unassisted. Participants were divided into three groups based on their BMI: normal weight (19< or =BMI<25 kg/m(2)), overweight (25< or =BMI<30 kg/m(2)) and obese (BMI 30< or =BMI<40 kg/m(2)). Total ankle generative mechanical work expenditure (MWE) in the anterior-posterior (AP) plane was progressively and significantly lower with increase in BMI for both preferred (p=0.026) and maximum speed walking (p<0.001). In the medial-lateral (ML) plane, total knee generative MWE was higher in obese participants in the preferred speed task (p=0.002), and total hip absorptive MWE was higher in obese in both preferred speed (p<0.001) and maximum speed (p=0.002) walking task compared to the normal weight participants. Older adults with obesity show spatiotemporal gait patterns that may help in reducing contact impacts. In addition, in obese persons mechanical energy usages tend to be lower in the AP plane and higher in the ML plane. Since forward progression forces are mainly implicated in normal walking, this pattern found in obese participants is suggestive of lower energetic efficiency.

Evaluation of alternative technical markers for the pelvic coordinate system

In this study, we evaluated alternative technical markers for the motion analysis of the pelvic segment. Thirteen subjects walked eight times while tri-dimensional kinematics were recorded for one stride of each trial. Five marker sets were evaluated, and we compared the tilt, obliquity, and rotation angles of the pelvis segment: (1) standard: markers at the anterior and posterior superior iliac spines (ASIS and PSIS); (2) markers at the PSIS and at the hip joint centers, HJCs (estimated by a functional method and described with clusters of markers at the thighs); (3) markers at the PSIS and HJCs (estimated by a predictive method and described with clusters of markers at the thighs); (4) markers at the PSIS and HJCs (estimated by a predictive method and described with skin-mounted markers at the thighs based on the Helen-Hayes marker set); (5) markers at the PSIS and at the iliac spines. Concerning the pelvic angles, evaluation of the alternative technical marker sets evinced that all marker sets demonstrated similar precision across trials (about 1 degrees ) but different accuracies (ranging from 1 degrees to 3 degrees ) in comparison to the standard marker set. We suggest that all the investigated marker sets are reliable alternatives to the standard pelvic marker set.