Non-invasive determination of coupled motion of the scapula and humerus—An in-vitro validation

Reproduction of forearm rotation dynamic using intensity-based biplane 2D-3D registration matching method

This study aimed to reproduce and analyse the in vivo dynamic rotational motion of the forearm and to clarify forearm motion involvement and the anatomical function of the interosseous membrane (IOM). The dynamic forearm rotational motion of the radius and ulna was analysed in vivo using a novel image-matching method based on fluoroscopic and computed tomography images for intensity-based biplane two-dimensional-three-dimensional registration. Twenty upper limbs from 10 healthy volunteers were included in this study. The mean range of forearm rotation was 150 ± 26° for dominant hands and 151 ± 18° for non-dominant hands, with no significant difference observed between the two. The radius was most proximal to the maximum pronation relative to the ulna, moved distally toward 60% of the rotation range from maximum pronation, and again proximally toward supination. The mean axial translation of the radius relative to the ulna during forearm rotation was 1.8 ± 0.8 and 1.8 ± 0.9 mm for dominant and non-dominant hands, respectively. The lengths of the IOM components, excluding the central band (CB), changed rotation. The transverse CB length was maximal at approximately 50% of the rotation range from maximum pronation. Summarily, this study describes a detailed method for evaluating in vivo dynamic forearm motion and provides valuable insights into forearm kinematics and IOM function.

In Vivo Analysis of Acromioclavicular Kinematics and Distance During Multiplanar Humeral Elevation

BACKGROUND

Knowledge of acromioclavicular (AC) joint kinematics and distance may provide insight into the biomechanical function and development of new treatment methods. However, accurate data on in vivo AC kinematics and distance between the clavicle and acromion remain unknown.

PURPOSE/HYPOTHESIS

The purpose of this study was to investigate 3-dimensional AC kinematics and distance during arm elevation in abduction, scaption, and forward flexion in a healthy population. It was hypothesized that AC kinematics and distance would vary with the elevation angle and plane of the arm.

STUDY DESIGN

Controlled laboratory study.

METHODS

A total of 19 shoulders of healthy participants were enrolled. AC kinematics and distance were investigated with a combined dual fluoroscopic imaging system and computed tomography. Rotation and translation of the AC joint were calculated. The AC distance was measured as the minimum distance between the medial border of the acromion and the articular surface of the distal clavicle (ASDC). The minimum distance point (MDP) ratio was defined as the length between the MDP and the posterior edge of the ASDC divided by the anterior-posterior length of the ASDC. AC kinematics and distance between different elevation planes and angles were compared.

RESULTS

Progressive internal rotation, upward rotation, and posterior tilt of the AC joint were observed in all elevation planes. The scapula rotated more upward relative to the clavicle in abduction than in scaption (P = .002) and flexion (P = .005). The arm elevation angle significantly affected translation of the AC joint. The acromion translated more laterally and more posteriorly in scaption than in abduction (P < .001). The AC distance decreased from the initial position to 75° in all planes and was significantly greater in flexion (P < .001). The MDP ratio significantly increased with the elevation angle (P < .001).

CONCLUSION

Progressive rotation and significant translation of the AC joint were observed in different elevation planes. The AC distance decreased with the elevation angle from the initial position to 75°. The minimum distance between the ASDC and the medial border of the acromion moved anteriorly as the shoulder elevation angle increased.

CLINICAL RELEVANCE

These results could serve as benchmark data for future studies aiming to improve the surgical treatment of AC joint abnormalities to restore optimal function.

Glenoid Track Width Is Smaller Under Dynamic Conditions: An In Vivo Dual-Fluoroscopy Imaging Study

BACKGROUND

The glenoid track concept has been widely used to assess the risk of instability due to bipolar bone loss. The glenoid track width was commonly used as 83% of the glenoid width to determine if a lesion was on-track or off-track. However, the value was obtained under static conditions, and it may not be able to reflect the actual mechanism of traumatic dislocation during motion.

PURPOSE

To compare the glenoid track width under dynamic and static conditions using a dual-fluoroscopic imaging system.

STUDY DESIGN

Controlled laboratory study.

METHODS

In total, 40 shoulders of 20 healthy volunteers were examined for both dynamic and static tests within a dual-fluoroscopic imaging system at 5 different arm positions: 30°, 60°, 90°, 120°, and 150° of abduction, keeping the shoulder at 90° of external rotation. The participants performed a fast horizontal arm backswing for dynamic tests while keeping their arm in maximum horizontal extension for static tests. Computed tomography scans were used to create 3-dimensional models of the humerus and scapula for 2-dimensional to 3-dimensional image registration. Magnetic resonance imaging scans were obtained to delineate the medial margin of the rotator cuff insertion. The glenoid track width was measured as the distance from the anterior rim of the glenoid to the medial margin of the rotator cuff insertion and compared between static and dynamic conditions.

RESULTS

The mean glenoid track widths at 30°, 60°, 90°, 120°, and 150° of abduction were significantly smaller under dynamic conditions (88%, 81%, 72%, 69%, and 68% of the glenoid width) than those under static conditions (101%, 92%, 84%, 78%, and 77% of the glenoid width) (all P < .001). The glenoid track width significantly decreased with the increasing abduction angles in the range of 30° to 120° under static conditions (all P < .003) and 30° to 90° under dynamic conditions (all P < .001).

CONCLUSION

A smaller dynamic-based value should be considered for the glenoid track width when distinguishing on-track/off-track lesions. Clinical evidence is needed to establish the superiority of the dynamic-based value over the static-based value as an indicator for augmentation procedures.

CLINICAL RELEVANCE

Some off-track lesions might be misclassified as on-track lesions when the original commonly used static-based value of 83% is used as the glenoid track width.

Comparison of glenohumeral joint kinematics between manual wheelchair tasks and implications on the subacromial space: A biplane fluoroscopy study

Scapula and humerus motion associated with common manual wheelchair tasks is hypothesized to reduce the subacromial space. However, previous work relied on either marker-based motion capture for kinematic measures, which is prone to skin-motion artifact; or ultrasound imaging for arthrokinematic measures, which are 2D and acquired in statically-held positions. The aim of this study was to use a fluoroscopy-based approach to accurately quantify glenohumeral kinematics during manual wheelchair use, and compare tasks for a subset of parameters theorized to be associated with mechanical impingement. Biplane images of the dominant shoulder were acquired during scapular plane elevation, propulsion, sideways lean, and weight-relief raise in ten manual wheelchair users with spinal cord injury. A computed tomography scan of the shoulder was obtained, and model-based tracking was used to quantify six-degree-of-freedom glenohumeral kinematics. Axial rotation and superior/inferior and anterior/posterior humeral head positions were characterized for full activity cycles and compared between tasks. The change in the subacromial space was also determined for the period of each task defined by maximal change in the aforementioned parameters. Propulsion, sideways lean, and weight-relief raise, but not scapular plane elevation, were marked by mean internal rotation (8.1°, 10.8°, 14.7°, -49.2° respectively). On average, the humeral head was most superiorly positioned during the weight-relief raise (1.6 ± 0.9 mm), but not significantly different from the sideways lean (0.8 ± 1.1 mm) (p = 0.191), and much of the task was characterized by inferior translation. Scaption was the only task without a defined period of superior translation on average. Pairwise comparisons revealed no significant differences between tasks for anterior/posterior position (task means range: 0.1-1.7 mm), but each task exhibited defined periods of anterior translation. There was not a consistent trend across tasks between internal rotation, superior translation, and anterior translation with reductions in the subacromial space. Further research is warranted to determine the likelihood of mechanical impingement during these tasks based on the measured task kinematics and reductions in the subacromial space.

Advances in the Application of the Dual Fluoroscopic Imaging System in Sports Medicine: A Literature Review

The dual fluoroscopic imaging system (DFIS) is a new non-invasive motion analysis system that does not interfere with movement, has high precision and repeatability and is not affected by the errors caused by the relative movement of skin and soft tissues. DFIS has been recently used in the field of sports medicine. This narrative review focuses on relevant literature on the origin, development and mechanism of action of DFIS and summarises the application of DFIS in injury and rehabilitation treatment, such as the reliability of test results; the position relationships of bony structures in the shoulder, lumbar spine, knee joint and ankle joint during exercise and its six degree-of-freedom (6DOF) movement to calculate cartilage deformation, contact area/trajectory and ligament strain. This article puts forward the problems encountered in practice that need to be solved and looks forward to the future applications of DFIS in the field of sports, especially in injury prevention and treatment.

Reliability and Validity of the Polhemus Liberty System for Upper Body Segment and Joint Angular Kinematics of Elite Golfers

Golf swing analysis is common in both recreational and professional levels where players are searching for improvements in shot accuracy and distance. The use of motion analysis systems such as the portable Polhemus Liberty system is gaining interest by coaches and players; however, to date, no research has examined the usefulness of the Polhemus Liberty system for golf swing analysis. Therefore, the purpose of this study was to determine the reliability of the Polhemus Liberty system and validity compared to the VICON Nexus motion analysis system when assessing segment (pelvis and thorax) and joint (shoulder, elbow and wrist) angular kinematics during a golf swing at key events (address, top of backswing and impact). Fifteen elite amateur/professional golfers performed ten golf swing trials within specified bounds using their 5-iron club. Reliability was assessed using interclass coefficient, effect size and t-test statistics by all participants completing two separate testing sessions on separate days following the same experimental protocol. Validity was assessed using effect size, Pearson correlation and t-test statistics by comparing swings captured using both Polhemus Liberty and VICON Nexus concurrently. Results demonstrated no difference in ball outcome results using the Trackman launch monitor (P > 0.05) and that the Polhemus Liberty system was reliable across the two sessions for all segment (pelvis and thorax) and joint (lead shoulder (gleno-humeral joint), elbow and wrist) angular kinematics (P > 0.05). Validity analysis showed that the Polhemus Liberty system for the segments (pelvis and thorax) and joints (lead shoulder and wrist) were different compared to the VICON Nexus data at key events during the golf swing. Although validity could not be confirmed against VICON Nexus modeling, the Polhemus Liberty system may still be useful for golf swing analysis across training sessions. However, caution should be applied when comparing data from the system to published research data using different motion analysis methods.

Measuring three-dimensional tibiofemoral kinematics using dual-slice real-time magnetic resonance imaging

PURPOSE

The purpose of this study is to propose and evaluate a slice-to-volume registration (SVR) method integrating an advanced dual-slice real-time magnetic resonance image (MRI) and three-dimensional (3D) MRI volume of the tibiofemoral joint for determining their 3D kinematics.

METHODS

The real-time and 3D MRI of the knee were collected from 12 healthy adults at 5 static flexion positions and during dynamic flexion/extension movement. The 3D positions and orientations of the femur and tibia were obtained by registering their volumetric models constructed from the 3D MRI to dual-slice real-time MRI using an optimization process. The proposed method was quantitatively evaluated for its performance in terms of the robustness and measurement accuracy, and compared to those of a single-slice SVR method. Its repeatability in measuring knee kinematics during flexion/extension movement was also determined.

RESULTS

In comparison to the single-slice SVR method, the dual-slice method was significantly superior, giving a successful registration rate > 95%, a bias less than 0.5 mm in translations and 0.6° in rotations and a precision <0.7 mm in translations and 0.9° in rotations for determining the 3D tibiofemoral poses. For repeatability of the dual-slice SVR in measuring tibiofemoral kinematics during dynamic flexion/extension, the means of the time-averaged standard deviations were <0.9° for joint angles and 0.5 mm for joint translations.

CONCLUSION

A dual-slice SVR method in conjunction with real-time MRI has been developed and evaluated for its performance in measuring 3D kinematics of the tibiofemoral joint in 12 young adults in terms of the accuracy, robustness, and repeatability. The proposed MRI-based 3D measurement method provides a noninvasive and ionizing radiation-free approach for 3D kinematic measurement of the tibiofemoral joint, which will be helpful for future academic and clinical applications.

In Vivo Evaluation of Subacromial and Internal Impingement Risk in Asymptomatic Individuals

OBJECTIVE

The study aim was to evaluate subacromial and internal impingement risk between shoulders (dominant/nondominant) during dynamic motion using subject-specific anatomy and precise in vivo kinematics.

DESIGN

In a prospective cross-sectional study, nine subjects underwent bilateral magnetic resonance (N = 18 shoulders) and fluoroscopic imaging during elevation and external rotation at 90 degrees of abduction. Subject-specific bone models were created and distances from footprint to (a) acromion and (b) glenoid were measured to evaluate risk.

RESULTS

Throughout elevation, subacromial impingement risk was greater in the dominant shoulder (P = 0.0178). Regardless of side, high subacromial impingement risk occurred at 30% (78 degrees), 50% (101 degrees), and 70% (57 degrees) of the elevation cycle (P < 0.0001). High subacromial impingement risk also occurred at 30% (94 degrees), 50% (120 degrees), and 70% (63 degrees) of the external rotation motion cycle (P < 0.0001). Throughout both motions, internal impingement risk was not observed; however, the footprint and glenoid were closest at 50% of the elevation (101 degrees) and external rotation (120 degrees) cycles (P < 0.0001).

CONCLUSIONS

During elevation, subacromial impingement risk is greatest at lower arm positions (30% cycle, 78 degrees) and is greater in the dominant shoulder. High subacromial impingement risk also occurs with external rotation (63-120 degrees). Internal impingement risk does not occur with maximal elevation (101 degrees) or external rotation at 90-degree abduction but is more closely approached with elevation.

Analysis of forearm rotational motion using biplane fluoroscopic intensity-based 2D-3D matching

Measuring three-dimensional (3D) forearm rotational motion is difficult. We aimed to develop and validate a new method for analyzing 3D forearm rotational motion. We proposed biplane fluoroscopic intensity-based 2D-3D matching, which employs automatic registration processing using the evolutionary optimization strategy. Biplane fluoroscopy was conducted for forearm rotation at 12.5 frames per second along with computed tomography (CT) at one static position. An arm phantom was embedded with eight stainless steel spheres (diameter, 1.5 mm), and forearm rotational motion measurements using the proposed method were compared with those using radiostereometric analysis, which is considered the ground truth. As for the time resolution analysis, we measured radiohumeral joint motion in a patient with posterolateral rotatory instability and compared the 2D-3D matching method with the simulated multiple CT method, which uses CTs at multiple positions and interpolates between the positions. Rotation errors of the radius and ulna between these two methods were 0.31 ± 0.35° and 0.32 ± 0.33°, respectively, translation errors were 0.43 ± 0.35 mm and 0.29 ± 0.25 mm, respectively. Although the 2D-3D method could detect joint dislocation, the multiple CT method could not detect quick motion during joint dislocation. The proposed method enabled high temporal- and spatial-resolution motion analyses with low radiation exposure. Moreover, it enabled the detection of a sudden motion, such as joint dislocation, and may contribute to 3D motion analysis, including joint dislocation, which currently cannot be analyzed using conventional methods.

A survey of human shoulder functional kinematic representations

In this survey, we review the field of human shoulder functional kinematic representations. The central question of this review is to evaluate whether the current approaches in shoulder kinematics can meet the high-reliability computational challenge. This challenge is posed by applications such as robot-assisted rehabilitation. Currently, the role of kinematic representations in such applications has been mostly overlooked. Therefore, we have systematically searched and summarised the existing literature on shoulder kinematics. The shoulder is an important functional joint, and its large range of motion (ROM) poses several mathematical and practical challenges. Frequently, in kinematic analysis, the role of the shoulder articulation is approximated to a ball-and-socket joint. Following the high-reliability computational challenge, our review challenges this inappropriate use of reductionism. Therefore, we propose that this challenge could be met by kinematic representations, that are redundant, that use an active interpretation and that emphasise on functional understanding.

MRI vs CT-based 2D-3D auto-registration accuracy for quantifying shoulder motion using biplane video-radiography

Biplane 2D-3D registration approaches have been used for measuring 3D, in vivo glenohumeral (GH) joint kinematics. Computed tomography (CT) has become the gold standard for reconstructing 3D bone models, as it provides high geometric accuracy and similar tissue contrast to video-radiography. Alternatively, magnetic resonance imaging (MRI) would not expose subjects to radiation and provides the ability to add cartilage and other soft tissues to the models. However, the accuracy of MRI-based 2D-3D registration for quantifying glenohumeral kinematics is unknown. We developed an automatic 2D-3D registration program that works with both CT- and MRI-based image volumes for quantifying joint motions. The purpose of this study was to use the proposed 2D-3D auto-registration algorithm to describe the humerus and scapula tracking accuracy of CT- and MRI-based registration relative to radiostereometric analysis (RSA) during dynamic biplanar video-radiography. The GH kinematic accuracy (RMS error) was 0.6-1.0 mm and 0.6-2.2° for the CT-based registration and 1.4-2.2 mm and 1.2-2.6° for MRI-based registration. Higher kinematic accuracy of CT-based registration was expected as MRI provides lower spatial resolution and bone contrast as compared to CT and suffers from spatial distortions. However, the MRI-based registration is within an acceptable accuracy for many clinical research questions.

An interpolation technique to enable accurate three-dimensional joint kinematic analyses using asynchronous biplane fluoroscopy

Biplane 2D-3D model-based registration and radiostereometric analysis (RSA) approaches have been commonly used for measuring three-dimensional, in vivo joint kinematics. However, in clinical biplane systems, the x-ray images are acquired asynchronously, which introduces registration errors. The present study introduces an interpolation technique to reduce image registration error by generating synchronous fluoroscopy image estimates. A phantom study and cadaveric shoulder study were used to evaluate the level of improvement in image registration that could be obtained as a result of using our interpolation technique. Our phantom study results show that the interpolated bead tracking technique was in better agreement with the true bead positions than when asynchronous images were used alone. The overall RMS error of glenohumeral kinematics for interpolated biplane registration was reduced by 1.27 mm, 0.40 mm, and 0.47 mm in anterior-posterior, superior-inferior, and medial-lateral translation, respectively; and 0.47°, 0.67°, and 0.19° in ab-adduction, internal-external rotation and flexion-extension, respectively, compared to asynchronous registration. The interpolated biplane registration results were consistent with previously reported studies using custom synchronous biplane fluoroscopy technology. This approach will be particularly useful for improving the kinematic accuracy of high velocity activities when using clinical biplane fluoroscopes or two independent c-arms, which are available at a number of institutions.

Additively manufactured implant components for imaging validation studies

Radiographic imaging is the current standard for evaluating postoperative joint replacements. Prior to application, such imaging methods need to be validated to determine the lower limits of performance under ideal conditions, using either a phantom or cadaver setup. Conventionally manufactured orthopedic implants for use in such studies are not always accessible and may be cost-prohibitive to purchase. We propose the use of additively manufactured implants as a cheaper, more accessible alternative for use in radiographic imaging validation studies. Bias and repeatability were compared between conventionally manufactured and additively manufactured reverse total shoulder implant sets under a standard model-based radiostereometric analysis phantom study environment. Measurements were compared using the humeral stem or glenosphere model relative to reference bone beads, and the humeral stem relative to the glenosphere model to measure implant relative displacement. Compared to the conventionally manufactured implants, the additively manufactured implants had less bias along the internal-external rotation axis (p < 0.001), but greater bias along the abduction-adduction and flexion-extension rotation axes (p = 0.005, 0.011). Additively manufactured implants had greater repeatability along the internal-external rotation axis (p < 0.001), but worse repeatability along the medial-lateral translation axis (p = 0.001) and the abduction-adduction rotation axis (p < 0.001). Differences were on the orders of 0.01 mm and 0.5°. For the purpose of validating two-dimensional-three-dimensional radiographic imaging techniques of orthopedic implants, additively manufactured implants can be used in place of conventionally manufactured implants, assuming they are fabricated to the manufacturer's specifications. Observed differences were within the errors of the measurement technique and not clinically meaningful.

Validation of imaging-based quantification of glenohumeral joint kinematics using an unmodified clinical biplane fluoroscopy system

Model-based tracking, using CT and biplane fluoroscopy, allows highly accurate quantification of glenohumeral motion and changes in the subacromial space. Previous investigators have used custom-built biplane fluoroscopes designed specifically for kinematic applications, which are available at few institutions and require FDA approval prior to clinical use. The aim of this study was to demonstrate the utility of an off-the-shelf clinical biplane fluoroscope for kinematic applications by validating model-based tracking for measurement of glenohumeral motion using an unmodified clinical system. Biplane images of each shoulder of a cadaver torso were acquired at various joint positions and during simulated movements along anatomical planes of motion. The pose of each humerus and scapula was determined using model-based tracking and compared to a bead-based gold standard. Error due to a temporal-offset between corresponding biplane images, characteristic of clinical biplane systems, was determined by comparison of measured and known relative position of 2 bead clusters of a phantom that was imaged while moved throughout the fluoroscopy image volume. Model-based tracking had global kinematic mean absolute errors of 0.27 mm and 0.29° (static), and 0.22-0.32 mm and 0.12-0.45° (dynamic). Glenohumeral mean absolute errors were 0.39 mm and 0.45° (static), and 0.36-0.42 mm and 0.41-0.48° (dynamic). The temporal-offset was predicted to add errors of 0.06-0.85 mm and 0.05-0.28° for cadaveric trials for the speeds examined. For defined speeds, sub-millimeter and sub-degree kinematic accuracy and precision were achieved using an unmodified clinical biplane fluoroscope for quantification of glenohumeral motion.

Model-based tracking of the bones of the foot: A biplane fluoroscopy validation study

Measuring foot kinematics using optical motion capture is technically challenging due to the depth of the talus, small bone size, and soft tissue artifact. We present a validation of our biplane X-ray system, demonstrating its accuracy in tracking the foot bones directly. Using an experimental linear/rotary stage we imaged pairs of tali, calcanei, and first metatarsals, with embedded beads, through 30 poses. Model- and bead-based algorithms were employed for semi-automatic tracking. Translational and rotational poses were compared to the experimental stage (a reference standard) to determine registration performance. For each bone, 10 frames per pose were analyzed. Model-based: The resulting overall translational bias of the six bones was 0.058 mm with a precision of ± 0.049 mm. The overall rotational bias of the six bones was 0.42° with a precision of ± 0.41°. Bead-based: the overall translational bias was 0.037 mm with a precision of ± 0.032 mm and for rotation was 0.29° with a precision of ± 0.26°. We validated the accuracy of our system to determine the spatial position and orientation of isolated foot bones, including the talus, calcaneus, and first metatarsal over a range of quasi-static poses. Although the accuracy of dynamic motion was not assessed, use of an experimental stage establishes a reference standard.

Determining 3D scapular orientation with scapula models and biplane 2D images

This study evaluated a strategy for identifying 3D scapulothoracic orientation using bilateral X-ray scans and 3D scapula models. Both subject-specific scapula models and a scaled general model were utilized. 3D scapulothoracic orientations obtained from X-rays were compared to motion capture data. "Subjects" consisted of a skeletal model of a human torso and ten real bone scapulae. Retroreflective markers were placed on the scapulae and a three-marker triad was placed on the trunk. Marker positions were recorded using an eight camera motion capture system. A biplane X-ray system from EOS Imaging was used to collect two orthogonal 2D images of the skeleton and markers. Custom software was created for the 3D to 2D matching process. The results indicated that the matched orientations compared favorably to motion capture orientations, with RMSE errors ranging from 3.1° to 5.5° and a mean error of 3.9° The proposed strategy was shown to be accurate for both subject-specific models and a scaled general model.

Functional knee assessment with advanced imaging

The purpose of anterior cruciate ligament (ACL) reconstruction is to restore the native stability of the knee joint and to prevent further injury to meniscus and cartilage, yet studies have suggested that joint laxity remains prevalent in varying degrees after ACL reconstruction. Imaging can provide measurements of translational and rotational motions of the tibiofemoral joint that may be too small to detect in routine physical examinations. Various imaging modalities, including fluoroscopy, computed tomography (CT), and magnetic resonance imaging (MRI), have emerged as powerful methods in measuring the minute details involved in joint biomechanics. While each technique has its own strengths and limitations, they have all enhanced our understanding of the knee joint under various stresses and movements. Acquiring the knowledge of the complex and dynamic motions of the knee after surgery would help lead to improved surgical techniques and better patient outcomes.

Definition of anatomical zero positions for assessing shoulder pose with 3D motion capture during bilateral abduction of the arms

Background

Surgical interventions at the shoulder may alter function of the shoulder complex. Clinically, the outcome can be assessed by universal goniometry. Marker-based motion capture may not resemble these results due to differing angle definitions.

Methods

The clinical inspection of bilateral arm abduction for assessing shoulder dysfunction is performed with a marker based 3D optical measurement method. An anatomical zero position of shoulder pose is proposed to determine absolute angles according to the Neutral-0-Method as used in orthopedic context. Static shoulder positions are documented simultaneously by 3D marker tracking and universal goniometry in 8 young and healthy volunteers. Repetitive bilateral arm abduction movements of at least 150° range of motion are monitored. Similarly a subject with gleno-humeral osteoarthritis is monitored for demonstrating the feasibility of the method and to illustrate possible shoulder dysfunction effects.

Results

With mean differences of less than 2°, the proposed anatomical zero position results in good agreement between shoulder elevation/depression angles determined by 3D marker tracking and by universal goniometry in static positions. Lesser agreement is found for shoulder pro-/retraction with systematic deviations of up to 6°. In the bilateral arm abduction movements the volunteers perform a common and specific pattern in clavicula-thoracic and gleno-humeral motion with maximum shoulder angles of 32° elevation, 5° depression and 45° protraction, respectively, whereas retraction is hardly reached. Further, they all show relevant out of (frontal) plane motion with anteversion angles of 30° in overhead position (maximum abduction). With increasing arm anteversion the shoulder is increasingly retroverted, with a maximum of 20° retroversion. The subject with gleno-humeral osteoarthritis shows overall less shoulder abduction range of motion but with increased out-of-plane movement during abduction.

Conclusions

The proposed anatomical zero definition for shoulder pose fills the missing link for determining absolute joint angles for shoulder elevation/depression and pro-/retraction. For elevation-/depression the accuracy suits clinical expectations very well with mean differences less than 2° and limits of agreement of 8.6° whereas for pro-/retraction the accuracy in individual cases may be inferior with limits of agreement of up to 24.6°. This has critically to be kept in mind when applying this concept to shoulder intervention studies.

Direct assessment of 3D foot bone kinematics using biplanar X-ray fluoroscopy and an automatic model registration method

BACKGROUND

Quantifying detailed 3-dimensional (3D) kinematics of the foot in contact with the ground during locomotion is crucial for understanding the biomechanical functions of the complex musculoskeletal structure of the foot. Biplanar X-ray fluoroscopic systems and model-based registration techniques have recently been employed to capture and visualise 3D foot bone movements in vivo, but such techniques have generally been performed manually. In the present study, we developed an automatic model-registration method with biplanar fluoroscopy for accurate measurement of 3D movements of the skeletal foot.

METHODS

Three-dimensional surface models of foot bones were generated prior to motion measurement based on computed tomography. The bone models generated were then registered to biplanar fluoroscopic images in a frame-by-frame manner using an optimisation technique, to maximise similarity measures between occluding contours of the bone surface models with edge-enhanced fluoroscopic images, while avoiding mutual penetration of bones. A template-matching method was also introduced to estimate the amount of bone translation and rotation prior to automatic registration.

RESULTS

We analysed 3D skeletal movements of a cadaver foot mobilized by a robotic gait simulator. The 3D kinematics of the calcaneus, talus, navicular and cuboid in the stance phase of the gait were successfully reconstructed and quantified using the proposed model-registration method. The accuracy of bone registration was evaluated as 0.27 ± 0.19 mm and 0.24 ± 0.19° (mean ± standard deviation) in translation and rotation, respectively, under static conditions, and 0.36 ± 0.19 mm and 0.42 ± 0.30° in translation and rotation, respectively, under dynamic conditions.

CONCLUSIONS

The measurement was confirmed to be sufficiently accurate for actual analysis of foot kinematics. The proposed method may serve as an effective tool for understanding the biomechanical function of the human foot during locomotion.

Automatic bone segmentation and bone-cartilage interface extraction for the shoulder joint from magnetic resonance images

We present a statistical shape model approach for automated segmentation of the proximal humerus and scapula with subsequent bone-cartilage interface (BCI) extraction from 3D magnetic resonance (MR) images of the shoulder region. Manual and automated bone segmentations from shoulder MR examinations from 25 healthy subjects acquired using steady-state free precession sequences were compared with the Dice similarity coefficient (DSC). The mean DSC scores between the manual and automated segmentations of the humerus and scapula bone volumes surrounding the BCI region were 0.926  ±  0.050 and 0.837  ±  0.059, respectively. The mean DSC values obtained for BCI extraction were 0.806  ±  0.133 for the humerus and 0.795  ±  0.117 for the scapula. The current model-based approach successfully provided automated bone segmentation and BCI extraction from MR images of the shoulder. In future work, this framework appears to provide a promising avenue for automated segmentation and quantitative analysis of cartilage in the glenohumeral joint.

Robustness and reproducibility of a glenoid-centered scapular coordinate system derived from low-dose stereoradiography analysis

A robust and reproducible scapular coordinate system is necessary to study scapulothoracic kinematics. The coordinate system recommended by the ISB (International Society of Biomechanics) is difficult to apply in studies using medical imaging, which mostly use a glenoid-centered coordinate system. The aim of this study was to assess the robustness of a glenoid-centered coordinate system compared with the ISB coordinate system, and to study the reproducibility of this coordinate system measure during abduction. A Monte-Carlo analysis was performed to test the robustness of the two coordinate systems. This method enabled the variability of the orientation of the coordinate system to be assessed in a laboratory setting. A reproducibility study of the glenoid-centered coordinate system in the thorax reference frame was performed during abduction in the scapular plane using a low-dose stereoradiography system. We showed that the glenoid-centered coordinate system was slightly more robust than the ISB-recommended coordinate system. Most reproducible rotation was upward/downward rotation (x axis) and most reproducible translation was along the Y axis (superior-inferior translation). In conclusion, the glenoid-centered coordinate system can be used with confidence for scapular kinematics analysis. The uncertainty of the measures derived from our technique is acceptable compared with that reported in the literature. Functional quantitative analysis of the scapulothoracic joint is possible with this method.

Dynamic comparison of segmentary scapulohumeral rhythm between athletes with and without impingement syndrome

Background:

Patients who have shoulder pain usually have compensatory or contributory deviation of shoulder motion during arm elevation. In the traditional scapulohumeral rhythm, the share of the acromioclavicular (AC) and the sternoclavicular (SC) joint movements and also the role of AC internal rotation angle are unknown.

Objectives:

The main purpose of this study was to measure and compare the segmentary scapulohumeral rhythm (SSHR) during scapular arm elevation at a steady rotational speed in athletes with and without impingement syndrome.

Patients and Methods:

Using a speedometer, the maximum speed of arm elevation was measured in 21 men in each of the involved and uninvolved groups. Using fluoroscopy on the dominant side, SSHR during scapular arm elevation at a rotational speed equal to 1/30 of maximum speed was compared between the two groups. The ratio of glenohumeral (GH) elevation angle to AC rotation angle in the scapular plane was considered as SSHR.

Results:

The maximum speed of arm elevation between the two groups was significantly different (P < 0.001). The rhythm of the involved group significantly exceeded the rhythm of the uninvolved group in a part of the first quarter range of the arm elevation. SSHR during arm elevation in the uninvolved group did not change significantly (P = 0.845); however, it decreased significantly in the involved group (P = 0.024).

Conclusions:

Speed differences between the two groups were probably due to the pain in some ranges of arm elevation. SSHR in the involved group probably changed in order to compensate downward rotation of the scapula in the resting position. Study of the AC upward rotation range can be misleading; therefore, the study of scapulohumeral rhythm is recommended.

Glenohumeral joint cartilage contact in the healthy adult during scapular plane elevation depression with external humeral rotation

The shoulder (glenohumeral) joint has the greatest range of motion of all human joints; as a result, it is particularly vulnerable to dislocation and injury. The ability to non-invasively quantify in-vivo articular cartilage contact patterns of joints has been and remains a difficult biomechanics problem. As a result, little is known about normal in-vivo glenohumeral joint contact patterns or the consequences that surgery has on altering them. In addition, the effect of quantifying glenohumeral joint contact patterns by means of proximity mapping, both with and without cartilage data, is unknown. Therefore, the objectives of this study are to (1) describe a technique for quantifying in-vivo glenohumeral joint contact patterns during dynamic shoulder motion, (2) quantify normal glenohumeral joint contact patterns in the young healthy adult during scapular plane elevation depression with external humeral rotation, and (3) compare glenohumeral joint contact patterns determined both with and without articular cartilage data. Our results show that the inclusion of articular cartilage data when quantifying in-vivo glenohumeral joint contact patterns has significant effects on the anterior-posterior contact centroid location, the superior-inferior contact centroid range of travel, and the total contact path length. As a result, our technique offers an advantage over glenohumeral joint contact pattern measurement techniques that neglect articular cartilage data. Likewise, this technique may be more sensitive than traditional 6-Degree-of-Freedom (6-DOF) joint kinematics for the assessment of overall glenohumeral joint health. Lastly, for the shoulder motion tested, we found that glenohumeral joint contact was located on the anterior-inferior glenoid surface.

Coracohumeral Distances and Correlation to Arm Rotation: An In Vivo 3-Dimensional Biplane Fluoroscopy Study

Background:

Reduced coracohumeral distances have been reported to be associated with anterior shoulder disorders such as subscapularis tears, biceps tendon injuries, and leading edge supraspinatus tears.

Purpose:

To determine the variability in coracohumeral distance as a function of arm rotation in healthy male subjects. The null hypothesis was that no differences in coracohumeral distance would exist with respect to arm rotation.

Study Design:

Descriptive laboratory study.

Methods:

A total of 9 male participants who had full range of motion, strength, and no prior surgery or symptoms in their tested shoulders were enrolled in this institutional review board–approved study. Computed tomography scans of the shoulder were obtained for each subject. A dynamic biplane fluoroscopy system recorded internal and external shoulder rotation with the arm held in the neutral position. Three-dimensional reconstructions of each motion were generated, and the coracohumeral distance and coracoid index (lateral extension of the coracoid) were measured.

Results:

The mean coracohumeral distance in neutral rotation was 12.7 ± 2.1 mm. A significantly shorter minimum coracohumeral distance of 10.6 ± 1.8 mm was achieved (P = .001) at a mean glenohumeral joint internal rotation angle of 36.6° ± 19.2°. This corresponded to a reduction in coracohumeral distance of 16.4% (range, 6.6%-29.8%). The mean coracoid index was 14.2 ± 6.8 mm. A moderate correlation (R = −0.75) existed between the coracohumeral distance and coracoid index.

Conclusion:

Coracohumeral distance was reduced during internal rotation. Decreased coracohumeral distance was correlated with larger coracoid indices.

Clinical Relevance:

This study provides a reference value for coracohumeral distance in the healthy male population. Knowledge of how coracohumeral distance varies over the range of arm internal-external rotation may improve the clinical diagnosis and treatment plan for patients with anterior shoulder pathology, specifically subcoracoid impingement. Imaging of the coracohumeral distance during internal rotation with the hand at approximately midline should be considered to assess patients with anterior shoulder pain.

Suprascapular nerve anatomy during shoulder motion: a cadaveric proof of concept study with implications for neurogenic shoulder pain

BACKGROUND

The suprascapular nerve (SSN) carries sensory fibers which may contribute to shoulder pain. Prior anatomic study demonstrated that alteration in SSN course with simulated rotator cuff tendon (RCT) tears cause tethering and potential traction injury to the nerve at the suprascapular notch. Because the SSN has been implicated as a major source of pain with RCT tearing, it is critical to understand nerve anatomy during shoulder motion. We hypothesized that we could evaluate the SSN course with a novel technique to evaluate effects of simulated RCT tears, repair, and/or release of the nerve.

METHODS

The course of the SSN was tracked with a dual fluoroscopic imaging system in a cadaveric model with simulated rotator cuff muscle forces during dynamic shoulder motion.

RESULTS

After a simulated full-thickness supraspinatus/infraspinatus tendon tear, the SSN translated medially 3.5 mm at the spinoglenoid notch compared to the anatomic SSN course. Anatomic footprint repair of these tendons restored the SSN course to normal. Open release of the transverse scapular ligament caused the SSN to move 2.5 mm superior-posterior out of the suprascapular notch.

CONCLUSION

This pilot study demonstrated that the dynamic SSN course can be evaluated and may be altered by a RCT tear. Preliminary results suggest release of the transverse scapular ligament allowed the SSN to move upward out of the notch. This provides a biomechanical proof of concept that SSN traction neuropathy may occur with RCT tears and that release of the transverse scapular ligament may alleviate this by altering the course of the nerve.

A novel dual fluoroscopic imaging method for determination of THA kinematics: in-vitro and in-vivo study

Accurate measurement of six-degrees-of-freedom in-vivo kinematics of the total hip arthroplasty (THA) is essential in gaining insights into in-vivo THA performance. The objective of this study was to validate a novel dual fluoroscopy imaging system (DFIS) for determination of the THA kinematics using both in-vitro and in-vivo approaches. The in-vitro validation utilized cadaveric hip specimens to compare the THA motion using the DFIS technique with those measured by a radiostereometric analysis (RSA). The differences between the DFIS technique and the RSA were within 0.33±0.81 mm (mean±SD) in translation and 0.45±0.65° in rotation during dynamic motion of the hips. In the in-vivo validation, the THA kinematics of two patients during a treadmill gait was assessed for the feasibility/repeatability of the DFIS technique in measurement of THA kinematics. The poses of the THAs during the treadmill gait was measured using the DFIS technique with the maximum standard deviation of 0.35 mm in translation and of 0.55° in rotation. This study demonstrated that the DFIS technique has comparable accuracy of the RSA and is highly repeatable for measurement of dynamic THA motion, suggesting that the DFIS is a promising tool in evaluating the in-vivo THA biomechanics during functional activities.

Markerless motion capture and measurement of hand kinematics: validation and application to home-based upper limb rehabilitation

Dynamic movements of the hand, fingers, and thumb are difficult to measure due to the versatility and complexity of movement inherent in function. An innovative approach to measuring hand kinematics is proposed and validated. The proposed system utilizes the Microsoft Kinect and goes beyond gesture recognition to develop a validated measurement technique of finger kinematics. The proposed system adopted landmark definition (validated through ground truth estimation against assessors) and grip classification algorithms, including kinematic definitions (validated against a laboratory-based motion capture system). The results of the validation show 78% accuracy when identifying specific markerless landmarks. In addition, comparative data with a previously validated kinematic measurement technique show accuracy of MCP ± 10° (average absolute error (AAE) = 2.4°), PIP ± 12° (AAE = 4.8°), and DIP ± 11° (AAE = 4.8°). These results are notably better than clinically based alternative manual measurement techniques. The ability to measure hand movements, and therefore functional dexterity, without interfering with underlying composite movements, is the paramount objective to any bespoke measurement system. The proposed system is the first validated markerless measurement system using the Microsoft Kinect that is capable of measuring finger joint kinematics. It is suitable for home-based motion capture for the hand and, therefore, achieves this objective.

Effect of plane of arm elevation on glenohumeral kinematics: a normative biplane fluoroscopy study

BACKGROUND

Understanding glenohumeral motion in normal and pathologic states requires the precise measurement of shoulder kinematics. The effect of the plane of arm elevation on glenohumeral translations and rotations remains largely unknown. The purpose of this study was to measure the three-dimensional glenohumeral translations and rotations during arm elevation in healthy subjects.

METHODS

Eight male subjects performed scaption and forward flexion, and five subjects (three men and two women) performed abduction, inside a dynamic biplane fluoroscopy system. Bone geometries were extracted from computed tomography images and used to determine the three-dimensional position and orientation of the humerus and scapula in individual frames. Descriptive statistics were determined for glenohumeral joint rotations and translations, and linear regressions were performed to calculate the scapulohumeral rhythm ratio.

RESULTS

The scapulohumeral rhythm ratio was 2.0 ± 0.4:1 for abduction, 1.6 ± 0.5:1 for scaption, and 1.1 ± 0.3:1 for forward flexion, with the ratio for forward flexion being significantly lower than that for abduction (p = 0.002). Humeral head excursion was largest in abduction (5.1 ± 1.1 mm) and smallest in scaption (2.4 ± 0.6 mm) (p < 0.001). The direction of translation, as determined by the linear regression slope, was more inferior during abduction (-2.1 ± 1.8 mm/90°) compared with forward flexion (0.1 ± 10.9 mm/90°) (p = 0.024).

CONCLUSIONS

Scapulohumeral rhythm significantly decreased as the plane of arm elevation moved in an anterior arc from abduction to forward flexion. The amount of physiologic glenohumeral excursion varied significantly with the plane of elevation, was smallest for scaption, and showed inconsistent patterns across subjects with the exception of consistent inferior translation during abduction.

The effects of arm elevation on the 3-dimensional acromiohumeral distance: a biplane fluoroscopy study with normative data

HYPOTHESIS AND BACKGROUND

Narrowing of the subacromial space has been implicated in several shoulder pathologies. However, the location of the minimum distance points during clinical testing has not been defined. We sought to measure the in vivo minimum distance and location of the minimum distance points on the acromion and proximal humerus during arm elevation.

METHODS

Eight healthy male subjects (mean age, 30 years) underwent a dynamic in vivo biplane fluoroscopy assessment of scaption and forward elevation. For each frame, the 3-dimensional position and orientation of the humerus and scapula were determined, and the acromiohumeral distance (AHD) was measured as the shortest distance between the acromion and proximal humerus.

RESULTS

The minimum AHD was 2.6 ± 0.8 mm during scaption and 1.8 ± 1.2 mm during forward flexion at elevation angles of 83° ± 13° and 97° ± 23°, respectively. The minimum distance point was located on the articular surface of the humeral head from the neutral arm position until 34° ± 8° for scaption and 36° ± 6° for forward flexion. Upon further elevation, the minimum distance point was located within the footprint of the supraspinatus muscle until 72° ± 12° for scaption and 65° ± 8° for forward flexion. At greater elevation angles, the minimum distance points were between the acromion and the proximal humeral shaft, distal from the greater tuberosity.

CONCLUSIONS

The shortest AHD was at approximately 90° of arm elevation. The AHD was no longer measured intra-articularly or within the supraspinatus footprint above approximately 70° of arm elevation.

In-vivo glenohumeral translation and ligament elongation during abduction and abduction with internal and external rotation

Study Design

Basic Science. To investigate humeral head translations and glenohumeral ligament elongation with a dual fluoroscopic imaging system.

Background

The glenohumeral ligaments are partially responsible for restraining the humeral head during the extremes of shoulder motion. However, in-vivo glenohumeral ligaments elongation patterns have yet to be determined. Therefore, the objectives of this study were to 1) quantify the in-vivo humeral head translations and glenohumeral ligament elongations during functional shoulder positions, 2) compare the inferred glenohumeral ligament functions with previous literature and 3) create a baseline data of healthy adult shoulder glenohumeral ligament lengths as controls for future studies.

Methods

Five healthy adult shoulders were studied with a validated dual fluoroscopic imaging system (DFIS) and MR imaging technique. Humeral head translations and the superior, middle and inferior glenohumeral ligaments (SGHL, MGHL, IGHL) elongations were determined.

Results

The humeral head center on average translated in a range of 6.0mm in the anterior-posterior direction and 2.5mm in the superior-inferior direction. The MGHL showed greater elongation over a broader range of shoulder motion than the SGHL. The anterior-band (AB)-IGHL showed maximum elongation at 90° abduction with maximum external rotation. The posterior-band (PB)-IGHL showed maximum elongation at 90° abduction with maximum internal rotation.

Discussion

The results demonstrated that the humeral head translated statistically more in the anterior-posterior direction than the superior-inferior direction (p = 0.01), which supports the concept that glenohumeral kinematics are not ball-in-socket mechanics. The AB-IGHL elongation pattern makes it an important static structure to restrain anterior subluxation of the humeral head during the externally rotated cocking phase of throwing motion. These data suggest that in healthy adult shoulders the ligamentous structures of the glenohumeral joint are not fully elongated in many shoulder positions, but function as restraints at the extremes of glenohumeral motion. Clinically, these results may be helpful in restoring ligament anatomy during the treatment of anterior instability of the shoulder.

The accuracy and repeatability of an automatic 2D-3D fluoroscopic image-model registration technique for determining shoulder joint kinematics

Fluoroscopic imaging, using single plane or dual plane images, has grown in popularity to measure dynamic in vivo human shoulder joint kinematics. However, no study has quantified the difference in spatial positional accuracy between single and dual plane image-model registration applied to the shoulder joint. In this paper, an automatic 2D-3D image-model registration technique was validated for accuracy and repeatability with single and dual plane fluoroscopic images. Accuracy was assessed in a cadaver model, kinematics found using the automatic registration technique were compared to those found using radiostereometric analysis. The in vivo repeatability of the automatic registration technique was assessed during the dynamic abduction motion of four human subjects. The in vitro data indicated that the error in spatial positional accuracy of the humerus and the scapula was less than 0.30mm in translation and less than 0.58° in rotation using dual plane images. Single plane accuracy was satisfactory for in-plane motion variables, but out-of-plane motion variables on average were approximately 8 times less accurate. The in vivo test indicated that the repeatability of the automatic 2D-3D image-model registration was 0.50mm in translation and 1.04° in rotation using dual images. For a single plane technique, the repeatability was 3.31mm in translation and 2.46° in rotation for measuring shoulder joint kinematics. The data demonstrate that accurate and repeatable shoulder joint kinematics can be obtained using dual plane fluoroscopic images with an automatic 2D-3D image-model registration technique; and that out-of-plane motion variables are less accurate than in-plane motion variables using a single plane technique.

An automatic 2D-3D image matching method for reproducing spatial knee joint positions using single or dual fluoroscopic images

Fluoroscopic image technique, using either a single image or dual images, has been widely applied to measure in vivo human knee joint kinematics. However, few studies have compared the advantages of using single and dual fluoroscopic images. Furthermore, due to the size limitation of the image intensifiers, it is possible that only a portion of the knee joint could be captured by the fluoroscopy during dynamic knee joint motion. In this paper, we presented a systematic evaluation of an automatic 2D-3D image matching method in reproducing spatial knee joint positions using either single or dual fluoroscopic image techniques. The data indicated that for the femur and tibia, their spatial positions could be determined with an accuracy and precision less than 0.2 mm in translation and less than 0.4° in orientation when dual fluoroscopic images were used. Using single fluoroscopic images, the method could produce satisfactory accuracy in joint positions in the imaging plane (in average up to 0.5 mm in translation and 1.3° in rotation), but large variations along the out-plane direction (in average up to 4.0 mm in translation and 2.2° in rotation). The precision of using single fluoroscopic images to determine the actual knee positions was worse than its accuracy obtained. The data also indicated that when using dual fluoroscopic image technique, if the knee joint outlines in one image were incomplete by 80%, the algorithm could still reproduce the joint positions with high precisions.