Adaptive velocity-based six degree of freedom load control for real-time unconstrained biomechanical testing

Development and validation of a biomechanically fidelic surgical training knee model

Knee arthroplasty technique is constantly evolving and the opportunity for surgeons to practice new techniques is currently highly dependent on the availability of cadaveric specimens requiring certified facilities. The high cost, limited supply, and heterogeneity of cadaveric specimens has increased the demand for synthetic training models, which are currently limited by a lack of biomechanical fidelity. Here, we aimed to design, manufacture, and experimentally validate a synthetic knee surgical training model which reproduces the flexion dependent varus-valgus (VV) and anterior-posterior (AP) mechanics of cadaveric knees, while maintaining anatomic accuracy. A probabilistic finite element modeling approach was employed to design physical models to exhibit passive cadaveric VV and AP mechanics. Seven synthetic models were manufactured and tested in a six-degree-of-freedom hexapod robot. Overall, the synthetic models exhibited cadaver-like VV and AP mechanics across a wide range of flexion angles with little variation between models. In the extended position, two models showed increased valgus rotation (<0.5°), and three models showed increased posterior tibial translation (<1.7 mm) when compared to the 95% confidence interval (CI) of cadaveric measurements. At full flexion, all models showed VV and AP mechanics within the 95% CI of cadaveric measurements. Given the repeatable mechanics exhibited, the knee models developed in this study can be used to reduce the current reliance on cadaveric specimens in surgical training.

Understanding the etiopathogenesis of lumbar intervertebral disc herniation: From clinical evidence to basic scientific research

Lumbar intervertebral disc herniation, as a leading cause of low back pain, productivity loss, and disability, is a common musculoskeletal disorder that results in significant socioeconomic burdens. Despite extensive clinical and basic scientific research efforts, herniation etiopathogenesis, particularly its initiation and progression, is not well understood. Understanding herniation etiopathogenesis is essential for developing effective preventive measures and therapeutic interventions. Thus, this review seeks to provide a thorough overview of the advances in herniation-oriented research, with a discussion on ongoing challenges and potential future directions for clinical, translational, and basic scientific investigations to facilitate innovative interdisciplinary research aimed at understanding herniation etiopathogenesis. Specifically, risk factors for herniation are identified and summarized, including familial predisposition, obesity, diabetes mellitus, smoking tobacco, selected cardiovascular diseases, disc degeneration, and occupational risks. Basic scientific experimental and computational research that aims to understand the link between excessive mechanical load, catabolic tissue remodeling due to inflammation or insufficient nutrient supply, and herniation, are also reviewed. Potential future directions to address the current challenges in herniation-oriented research are explored by combining known progressive development in existing research techniques with ongoing technological advances. More research on the relationship between occupational risk factors and herniation, as well as the relationship between degeneration and herniation, is needed to develop preventive measures for working-age individuals. Notably, researchers should explore using or modifying existing degeneration animal models to study herniation etiopathogenesis, as such models may allow for a better understanding of how to prevent mild-to-moderately degenerated discs from herniating.

The physiological, in-vitro simulation of daily activities in the intervertebral disc using a load Informed kinematic evaluation (LIKE) protocol

Current spinal testing protocols generally adopt pure moments combined with axial compression. However, daily activities involve multi-axis loads, and multi-axis loading has been shown to impact intervertebral disc (IVD) cell viability. Therefore, integrating in-vivo load data with spine simulators is critical to understand how loading affects the IVD, but doing so is challenging due to load coupling and variable load rates. This study addresses these challenges through the Load Informed Kinematic Evaluation (LIKE) protocol, which was evaluated using the root mean squared error (RMSE) between desired and actual loads in each axis. Stage 1 involves obtaining the kinematics from six-axis load control tests replicating 20 Orthoload activities at a reduced test speed. Stage 2 applies these kinematics in five axes, with axial compression applied in load control, at the reduced speed and at the physiological test rate. Stage 3 enables long-term tests through six-axis kinematic control combined with diurnal height correction to account for the natural height fluctuations of the IVD. Stage 1 yielded RMSEs within twice the load cell noise floor. Low RMSEs were maintained during stage 2 at reduced speed (Tx:0.80 ± 0.30 N; Ty:0.77 ± 0.29 N; Tz:1.79 ± 0.50 N; Rx:0.02 ± 0.01Nm; Ry:0.02 ± 0.01Nm; and Rz:0.02 ± 0.01Nm) and at the physiological test rate (Tx:3.45 ± 1.81 N; Ty:3.82 ± 1.99 N; Tz:11.32 ± 8.69 N; Rx:0.13 ± 0.07Nm; Ry:0.16 ± 0.11Nm; and Rz:0.07 ± 0.04Nm). To address unwanted oscillations observed in longer tests (>2h), Stage 3 was introduced to enable the stable and consistent replication of activities at a physiological test rate. Despite higher RMSEs the axial error was 85.5 ± 24.27 N (equivalent to ∼ 0.16 MPa), with shear RMSEs similar to other testing systems conducting pure moment tests at slower rates. The LIKE protocol enables the replication of physiological loads, providing opportunities for enhanced investigations of IVD mechanobiology, and the pre-clinical evaluation of IVD devices and therapies.

The effect of age and initial compression on the force relaxation response of the femur in elderly women

The effect of force amount, age, body weight and bone mineral density (BMD) on the femur's force relaxation response was analysed for 12 donors (age: 56-91 years). BMD and fracture load, F _L, were estimated from clinical CT images. The 30 min force relaxation was obtained using a constant compression generating an initial force F ₀ between 7% and 78% of F _L. The stretched decay function (F(t) = A × e ^(-t/τ)β ) proposed earlier for bone tissue was fitted to the data and analysed using robust linear regression. The relaxation function fitted well to all the recordings (R ² = 0.99). The relative initial force was bilinearly associated (R ² = 0.83) to the shape factor, β, and the characteristic time, τ, when F ₀/F _L was less than 0.4, although β was no longer associated with F ₀/F _L by pooling all the data. The characteristic time τ increased with age (R ² = 0.37, p = 0.03) explaining 35% of the variation of τ in the entire dataset. In conclusion, the relative initial force mostly determines the femur's force relaxation response, although the early relaxation response under subcritical loading is variable, possibly due to damage occurring at subcritical loading levels.

Real-time replication of three-dimensional and time-varying physiological loading cycles for bone and implant testing: A novel protocol demonstrated for the proximal human femur while walking

In vitro real-time replication of three-dimensional, time-varying load profiles acting on human bones during physical activity can advance bone and implant testing protocols. This study aimed to develop a novel protocol for applying the three-dimensional, time-varying hip contact force while walking to a human femur specimen. The target force profile was obtained from the literature. A proximal femur from an elderly female donor was instrumented using ten rosette strain gages and tested using a custom-made hexapod robot. A load-control algorithm determined the robot position generating the target force at low frequency (0.0004 Hz). Five cycles of the robot position were played back at five intermediate frequencies up to real-time (0.04, 0.08, 0.16, 0.4, and 0.8 Hz). The hip reaction force, the length of the actuators (position), and cortical strains were compared. The error in the load-control force was 0.3 ± 4.2 N (mean ± SD). The last three force, position, and strain cycles varied by less than 1.1% for every frequency analyzed. Across frequencies, the force increased by 28% at 0.8 Hz as a logarithmic function of frequency (R² = 0.98). The position and strain error linearly increased with frequency up to 0.4 Hz. The median position error and the interquartile range of the strain error reached 15% and 13% at 0.8 Hz. Changes of force and cortical strain at increasing frequencies were linearly related (R² = 0.99). Therefore, the protocol developed can provide repeatable three-dimensional time-varying load profiles, although the comparison of the specimen deformation obtained across frequencies should be considered with care, particularly in the higher frequency range. This information supports the design of dynamic tests of bone and implants.

Global Research Trends in Robotic Applications in Spinal Medicine: A Systematic Bibliometric Analysis

OBJECTIVE

We systematically evaluated the global research trends in robotic application on the spine through bibliometric analysis and mapping knowledge domains.

METHODS

A systematic literature search was performed of the PubMed and Web of Science, including the Science Citation Index Expanded, databases. The number, countries, journals, and authors of the publications, total citations, average publication year, and institution sources were analyzed using Microsoft Excel, the Online Analysis Platform of Bibliometrics, and VOSviewer. The hotspots were analyzed and visualized using VOSviewer.

RESULTS

We identified a total of 2135 publications. The United States ranked first in the number of publications (n = 824; 38.63%) and frequency of citations (n = 29,075). Northwestern University had the highest number of publications (n = 67) and Harvard University the highest number of citations (n = 4198). The Journal of NeuroEngineering and Rehabilitation published the largest number of reports (n = 73), and the most frequently cited journal was Nature (n = 3844 citations). The research hotspots were divided into 3 categories analyzed by VOSviewer: rehabilitation, basic science, and surgery. According to the average publication year, the most recent hotspot was radiation exposure, and the earliest hotspot was radiosurgery.

CONCLUSIONS

The number of studies of robotic application on the spine has continued to increase. The United States was the greatest contributor to robotic applications on the spine. Robot-assisted rehabilitation for neurological and orthopedic lesions is still a major research hotspot. The range of robotic applications on the spine has expanded from assisted rehabilitation to assisted rehabilitation and surgery.

Spine biomechanical testing methodologies: The controversy of consensus vs scientific evidence

Biomechanical testing methodologies for the spine have developed over the past 50 years. During that time, there have been several paradigm shifts with respect to techniques. These techniques evolved by incorporating state-of-the-art engineering principles, in vivo measurements, anatomical structure-function relationships, and the scientific method. Multiple parametric studies have focused on the effects that the experimental technique has on outcomes. As a result, testing methodologies have evolved, but there are no standard testing protocols, which makes the comparison of findings between experiments difficult and conclusions about in vivo performance challenging. In 2019, the international spine research community was surveyed to determine the consensus on spine biomechanical testing and if the consensus opinion was consistent with the scientific evidence. More than 80 responses to the survey were received. The findings of this survey confirmed that while some methods have been commonly adopted, not all are consistent with the scientific evidence. This review summarizes the scientific literature, the current consensus, and the authors' recommendations on best practices based on the compendium of available evidence.

New Findings Confirm Regional Internal Disc Strain Changes During Simulation of Repetitive Lifting Motions

To understand the mechanisms of disc injuries that result from repetitive loading, it is important to measure disc deformations and use MRI to quantify disc damage. The aim of this study was to measure internal disc strains during simulated repetitive lifting and their relation to disc injury. Eight cadaveric lumbar segments underwent a pre-test MRI and 20,000 cycles of loading under combined compression (1.0 MPa), hyperflexion, and right axial rotation (2°), which simulated bending and twisting while lifting a 20 kg box. The remaining eight segments had a grid of tantalum wires inserted and used stereoradiography to calculate maximum shear strain (MSS) at increasing cycles. Post-test MRI revealed that 73% of specimens were injured after repetitive loading (annular protrusion, endplate failure, or lumbar disc herniation). MSS at cycle 20,000 was significantly larger than all earlier cycles (p < 0.003). MSS in the anterior, left posterolateral, and left lateral regions was significantly greater than the nucleus region (p < 0.006). Large strains, annular protrusion and herniation in the posterolateral regions were found in this study, which is consistent with clinical observations. In vitro strains can be used to develop more-robust computational models for understanding of the specimen-specific effects of repetitive lifting on disc tissue.

Off-axis response due to mechanical coupling across all six degrees of freedom in the human disc

The kinematics of the intervertebral disc are defined by six degrees of freedom (DOF): three translations (Tz: axial compression, Tx: lateral shear, and Ty: anterior-posterior shear) and three rotations (Rz: torsion, Rx: flexion-extension, and Ry: lateral bending). There is some evidence that the six DOFs are mechanically coupled, such that loading in one DOF affects the mechanics of the other five "off-axis" DOFs, however, most studies have not controlled and/or measured all six DOFs simultaneously. Additionally, the relationships between disc geometry and disc mechanics are important for evaluation of data from different sized donor and patient discs. The objectives of this study were to quantify the mechanical behavior of the intervertebral disc in all six degrees of freedom (DOFs), measure the coupling between the applied motion in each DOF with the resulting off-axis motions, and test the hypothesis that disc geometry influences these mechanical behaviors. All off-axis displacements and rotations were significantly correlated with the applied DOF and were of similar magnitude as physiologically relevant motion, confirming that off-axis coupling is an important mechanical response. Interestingly, there were pairs of DOFs that were especially strongly coupled: lateral shear (Tx) and lateral bending (Ry), anterior-posterior shear (Ty) and flexion-extension (Rx), and compression (Tz) and torsion (Rz). Large off-axis shears may contribute to injury risk in bending and flexion. In addition, the disc responded to shear (Tx, Ty) and rotational loading (Rx, Ry, and Rz) by increasing in disc height in order to maintain the applied compressive load. Quantifying these mechanical behaviors across all six DOF are critical for designing and testing disc therapies, such as implants and tissue engineered constructs, and also for validating finite element models.

Design of a six-DOF motion tracking system based on a Stewart platform and ball-and-socket joints

This paper presents a six degree-of-freedom (DOF) real-time motion tracking system of measuring the position and the orientation for industrial robots in three-dimensional (3D) space. The proposed system is based on a typical Stewart platform design and utilizes six low-cost displacement sensors to monitor the motion of the Stewart platform. The advantage of the proposed system is its simple calibration and easy accessibility; the magnetic ball-and-socket joints used for rotational joints. With special measurement tools, the center of rotation of all twelve joints can be measured in 3D space at a glance. Following more than fifty measurements, the average root mean square (RMS) position accuracy error of the proposed device is less than 0.186 mm and the average of angular accuracy error is less than 0.160 °, making it suitable for monitoring the performance of industrial robot. A commercial robot is also tested by the proposed system to verify its usefulness.

Personalised 3D knee compliance from clinically viable knee laxity measurements: A proof of concept ex vivo experiment

Personalised information of knee mechanics is increasingly used for guiding knee reconstruction surgery. We explored use of uniaxial knee laxity tests mimicking Lachman and Pivot-shift tests for quantifying 3D knee compliance in healthy and injured knees. Two healthy knee specimens (males, 60 and 88 years of age) were tested. Six-degree-of-freedom tibiofemoral displacements were applied to each specimen at 5 intermediate angles between 0° and 90° knee flexion. The force response was recorded. Six-degree-of-freedom and uniaxial tests were repeated after sequential resection of the anterior cruciate, posterior cruciate and lateral collateral ligament. 3D knee compliance (C_6DOF) was calculated using the six-degrees-of-freedom measurements for both the healthy and ligament-deficient knees and validated using a leave-one-out cross-validation. 3D knee compliance (C_CT) was also calculated using uniaxial measurements for Lachman and Pivot-shift tests both conjointly and separately. C_6DOF and C_CT matrices were compared component-by-component and using principal axes decomposition. Bland-Altman plots, median and 40-60th percentile range were used as measurements of bias and dispersion. The error on tibiofemoral displacements predicted using C_6DOF was < 9.6% for every loading direction and after release of each ligament. Overall, there was good agreement between C_6DOF and C_CT components for both the component-by-component and principal component comparison. The dispersion of principal components (compliance coefficients, positions and pitches) based on both uniaxial tests was lower than that based on single uniaxial tests. Uniaxial tests may provide personalised information of 3D knee compliance.

The equivalence of multi-axis spine systems: Recommended stiffness limits using a standardized testing protocol

The complexity of multi-axis spine testing often makes it challenging to compare results from different studies. The aim of this work was to develop and implement a standardized testing protocol across three six-axis spine systems, compare them, and provide stiffness and phase angle limits against which other test systems can be compared. Standardized synthetic lumbar specimens (n=5), comprising three springs embedded in polymer at each end, were tested on each system using pure moments in flexion-extension, lateral bending, and axial rotation. Tests were performed using sine and triangle waves with an amplitude of 8Nm, a frequency of 0.1Hz, and with axial preloads of 0 and 500N. The stiffness, phase angle, and R² value of the moment against rotation in the principal axis were calculated at the center of each specimen. The tracking error was adopted asa measure of each test system to minimize non-principal loads, defined as the root mean squared difference between actual and target loads. All three test systems demonstrated similar stiffnesses, with small (<14%) but significant differences in 4 of 12 tests. More variability was observed in the phase angle between the principal axis moment and rotation, with significant differences in 10 of 12 tests. Stiffness and phase angle limits were calculated based on the 95% confidence intervals from all three systems. These recommendations can be used with the standard specimen and testing protocol by other research institutions to ensure equivalence of different spine systems, increasing the ability to compare in vitro spine studies.

Use of Robotic Manipulators to Study Diarthrodial Joint Function

Diarthrodial joint function is mediated by a complex interaction between bones, ligaments, capsules, articular cartilage, and muscles. To gain a better understanding of injury mechanisms and to improve surgical procedures, an improved understanding of the structure and function of diarthrodial joints needs to be obtained. Thus, robotic testing systems have been developed to measure the resulting kinematics of diarthrodial joints as well as the in situ forces in ligaments and their replacement grafts in response to external loading conditions. These six degrees-of-freedom (DOF) testing systems can be controlled in either position or force modes to simulate physiological loading conditions or clinical exams. Recent advances allow kinematic, in situ force, and strain data to be measured continuously throughout the range of joint motion using velocity-impedance control, and in vivo kinematic data to be reproduced on cadaveric specimens to determine in situ forces during physiologic motions. The principle of superposition can also be used to determine the in situ forces carried by capsular tissue in the longitudinal direction after separation from the rest of the capsule as well as the interaction forces with the surrounding tissue. Finally, robotic testing systems can be used to simulate soft tissue injury mechanisms, and computational models can be validated using the kinematic and force data to help predict in vivo stresses and strains present in these tissues. The goal of these analyses is to help improve surgical repair procedures and postoperative rehabilitation protocols. In the future, more information is needed regarding the complex in vivo loads applied to diarthrodial joints during clinical exams and activities of daily living to serve as input to the robotic testing systems. Improving the capability to accurately reproduce in vivo kinematics with robotic testing systems should also be examined.

The effect of six degree of freedom loading sequence on the in-vitro compressive properties of human lumbar spine segments

The complex, direction-dependent, poro-viscoelastic properties of the intervertebral disc (disc) suggest that investigations of the six degree of freedom (6DOF) behaviour may be susceptible to inter-test variation in mechanical response if the disc does not return to initial conditions between loading directions. No studies have quantified the effects of sequential multi-directional loading on the consistency of the compressive response of the disc throughout a 6DOF testing protocol. Therefore, the objective of this study was to determine the effect of 6DOF loading on the compressive properties (stiffness and phase angle) of human discs, as evaluated by a reference compression test performed after each single DOF test. Fourteen intact human functional spinal units (FSU) were tested in each of ±6DOFs (shear directions followed by bending and compression) across four orders of magnitude loading frequencies (0.001-1Hz), followed by reference compression tests while subjected to physiological preload, hydration, and body temperature conditions in a hexapod robot. Repeated measures ANOVA revealed significant within-subjects effects between the reference compression tests for modulus (p<0.001), stiffness (p<0.001), and phase angle (p=0.008). Significant post-hoc pairwise comparisons were initially seen between the control and other reference compression tests for stiffness and modulus after the shear DOFs, however, no significant differences were present after the final reference compression test compared to control. More pronounced effects were seen for stiffness in comparison to modulus and phase angle. These effects may be due to three potentials factors, which include the sequence of testing, the cohort of degenerative specimens, and/or cumulative creep due to the constant application of a follower load. While the sequence of test directions was chosen to minimise the biphasic effect, there may be other sequences, which could result in minimal changes in compressive properties.

Effect of degeneration on the six degree of freedom mechanical properties of human lumbar spine segments

While the effects of disc degeneration on compression and rotation motions have been studied, there is no data for shear loading. Clinical research has shown that those with low back pain (a potential consequence of degeneration) experience a 75% greater lateral shear force than those without it. Therefore, the aim was to compare the effect of degeneration on spine segment stiffness and phase angle in each of six degree of freedom (6DOF) loading directions. Fourteen intact functional spinal units (FSU) were dissected from human lumbar spines (mean (SD) age 76.2 (11) years, Thompson grades 3 (N = 5, mild), 4 (N = 6, moderate), 5 (N = 3, severe)). Each FSU was tested in ±6DOFs while subjected to a physiological preload, hydration, and temperature (37°C) conditions in a hexapod robot. A one-way ANOVA between degenerated groups was performed on stiffness and phase angle for each DOF. Significant differences in stiffness were found between mild and moderate degenerative groups in lateral shear (p = 0.001), and axial rotation (p = 0.001), where moderate degeneration had decreased stiffness. For phase angle, significant differences were seen in anterior shear (p = 0.017), and axial rotation (p = 0.026), where phase angle for mild degeneration was less than moderate. Trends of stiffness and phase angle changes between degenerative groups were similar within each DOF. Clinically, the identification of the DOFs that are most affected by degeneration could be used in rehabilitation to improve supplemental stabilization of core muscle groups. © 2016 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 34:1399-1409, 2016.

Evaluation of three force-position hybrid control methods for a robot-based biological joint-testing system

Background

Robot-based joint-testing systems (RJTS) can be used to perform unconstrained laxity tests, measuring the stiffness of a degree of freedom (DOF) of the joint at a fixed flexion angle while allowing the other DOFs unconstrained movement. Previous studies using the force-position hybrid (FPH) control method proposed by Fujie et al. (J Biomech Eng 115(3):211–7, 1993) focused on anterior/posterior tests. Its convergence and applicability on other clinically relevant DOFs such as valgus/varus have not been demonstrated. The current s1tudy aimed to develop a 6-DOF RJTS using an industrial robot, to propose two new force-position hybrid control methods, and to evaluate the performance of the methods and FPH in controlling the RJTS for anterior/posterior and valgus/varus laxity tests of the knee joint.

Methods

An RJTS was developed using an industrial 6-DOF robot with a 6-component load-cell attached at the effector. The performances of FPH and two new control methods, namely force-position alternate control (FPA) and force-position hybrid control with force-moment control (FPHFM), for unconstrained anterior/posterior and valgus/varus laxity tests were evaluated and compared with traditional constrained tests (CT) in terms of the number of control iterations, total time and the constraining forces and moments.

Results

As opposed to CT, the other three control methods successfully reduced the constraining forces and moments for both anterior/posterior and valgus/varus tests, FPHFM being the best followed in order by FPA and FPH. FPHFM had root-mean-squared constraining forces and moments of less than 2.2 N and 0.09 Nm, respectively at 0° flexion, and 2.3 N and 0.14 Nm at 30° flexion. The corresponding values for FPH were 8.5 N and 0.33 Nm, and 11.5 N and 0.45 Nm, respectively. Given the same control parameters including the compliance matrix, FPHFM and FPA reduced the constraining loads of FPH at the expense of additional control iterations, and thus increased total time, FPA taking about 10 % longer than FPHFM.

Conclusions

The FPHFM would be the best choice among the methods considered when longer total time is acceptable in the intended clinical applications. The current results will be useful for selecting a force-position hybrid control method for unconstrained laxity tests using an RJTS.

Organ culture bioreactors--platforms to study human intervertebral disc degeneration and regenerative therapy

In recent decades the application of bioreactors has revolutionized the concept of culturing tissues and organs that require mechanical loading. In intervertebral disc (IVD) research, collaborative efforts of biomedical engineering, biology and mechatronics have led to the innovation of new loading devices that can maintain viable IVD organ explants from large animals and human cadavers in precisely defined nutritional and mechanical environments over extended culture periods. Particularly in spine and IVD research, these organ culture models offer appealing alternatives, as large bipedal animal models with naturally occurring IVD degeneration and a genetic background similar to the human condition do not exist. Latest research has demonstrated important concepts including the potential of homing of mesenchymal stem cells to nutritionally or mechanically stressed IVDs, and the regenerative potential of "smart" biomaterials for nucleus pulposus or annulus fibrosus repair. In this review, we summarize the current knowledge about cell therapy, injection of cytokines and short peptides to rescue the degenerating IVD. We further stress that most bioreactor systems simplify the real in vivo conditions providing a useful proof of concept. Limitations are that certain aspects of the immune host response and pain assessments cannot be addressed with ex vivo systems. Coccygeal animal disc models are commonly used because of their availability and similarity to human IVDs. Although in vitro loading environments are not identical to the human in vivo situation, 3D ex vivo organ culture models of large animal coccygeal and human lumbar IVDs should be seen as valid alternatives for screening and feasibility testing to augment existing small animal, large animal, and human clinical trial experiments.

A new dynamic six degrees of freedom disc-loading simulator allows to provoke disc damage and herniation

Purpose

The cause of disc herniation is not well understood yet. It is assumed that heavy lifting and extreme postures can cause small injuries starting either in the inner anulus or from the outside close to the endplate. Such injuries are accumulated over years until its structure is weakened and finally a single loading event leads to a sudden failure of the last few intact lamellae. This paper describes a novel, custom-developed dynamic 6-DOF disc-loading simulator that allows complex loading to provoke such disc damage and herniations.

Methods

The machine’s axes are driven by six independent servomotors providing high loads (10 kN axial compression, 2 kN shear, 100 Nm torque) up to 5 Hz. A positional accuracy test was conducted to validate the machine. Subsequently, initial experiments with lumbar ovine motion segments under complex loading were performed. After testing, the discs were examined in an ultra-high field MRI (11.7 T). A three-dimensional reconstruction was performed to visualise the internal disc lesions.

Results

Validation tests demonstrated positioning with an accuracy of ≤0.08°/≤0.026 mm at 0.5 Hz and ≤0.27°/≤0.048 mm at 3.0 Hz with amplitudes of ±17°/±2 mm. Typical failure patterns and herniations could be provoked with complex asymmetrical loading protocols. Loading with axial compression, flexion, lateral bending and torsion lead in 8 specimens to 4 herniated discs, two protrusions and two delaminations. All disc failures occurred in the posterior region of the disc.

Conclusion

This new dynamic disc-loading simulator has proven to be able to apply complex motion combinations and allows to create artificial lesions in the disc with complex loading protocols. The aim of further tests is to better understand the mechanisms by which disc failure occurs at the microstructural level under different loading conditions. Visualisation with ultra-high field MRI at different time points is a promising method to investigate the gradual development of such lesions, which may finally lead to disc failure. These kinds of experiments will help to better investigate the mechanical failure of discs to provide new insights into the initiation of intervertebral disc herniation. This device will also serve for many other applications in spine biomechanics research.

Advanced Multi-Axis Spine Testing: Clinical Relevance and Research Recommendations

Back pain and spinal degeneration affect a large proportion of the general population. The economic burden of spinal degeneration is significant, and the treatment of spinal degeneration represents a large proportion of healthcare costs. However, spinal surgery does not always provide improved clinical outcomes compared to non-surgical alternatives, and modern interventions, such as total disc replacement, may not offer clinically relevant improvements over more established procedures. Although psychological and socioeconomic factors play an important role in the development and response to back pain, the variation in clinical success is also related to the complexity of the spine, and the multi-faceted manner by which spinal degeneration often occurs. The successful surgical treatment of degenerative spinal conditions requires collaboration between surgeons, engineers, and scientists in order to provide a multi-disciplinary approach to managing the complete condition. In this review, we provide relevant background from both the clinical and the basic research perspectives, which is synthesized into several examples and recommendations for consideration in increasing translational research between communities with the goal of providing improved knowledge and care. Current clinical imaging, and multi-axis testing machines, offer great promise for future research by combining invivo kinematics and loading with in-vitro testing in six degrees of freedom to offer more accurate predictions of the performance of new spinal instrumentation. Upon synthesis of the literature, it is recommended that in-vitro tests strive to recreate as many aspects of the in-vivo environment as possible, and that a physiological preload is a critical factor in assessing spinal biomechanics in the laboratory. A greater link between surgical procedures, and the outcomes in all three anatomical planes should be considered in both the in-vivo and in-vitro settings, to provide data relevant to quality of motion, and stability.

Effect of potting technique on the measurement of six degree-of-freedom viscoelastic properties of human lumbar spine segments

Polymethyl methacrylate (PMMA) and Wood's Metal are fixation media for biomechanical testing; however, the effect of each potting medium on the measured six degree-of-freedom (DOF) mechanical properties of human lumbar intervertebral discs is unknown. The first aim of this study was to compare the measured 6DOF elastic and viscoelastic properties of the disc when embedded in PMMA compared to repotting in Wood's Metal. The second aim was to compare the surface temperature of the disc when potted with PMMA and Wood's Metal. Six human lumbar functional spinal units (FSUs) were first potted in PMMA, and subjected to overnight preload in a saline bath at 37 °C followed by five haversine loading cycles at 0.1 Hz in each of 6DOF loading directions (compression, left/right lateral bending, flexion, extension, left/right axial rotation, anterior/posterior, and lateral shear). Each specimen was then repotted in Wood's Metal and subjected to a 2-h re-equilibrating preload followed by repeating the same 6DOF tests. Outcome measures of stiffness and phase angle were calculated from the final loading cycle in each DOF and were expressed as normalized percentages relative to PMMA (100%). Disc surface temperatures (anterior, left/right lateral) were measured during potting. Paired t-tests (with alpha adjusted for multiple DOF) were conducted to compare the differences in each outcome parameter between PMMA and Wood's Metal. No significant differences in stiffness or phase angle were found between PMMA and Wood's Metal. On average, the largest trending differences were found in the shear DOFs for both stiffness (approximately 35% greater for Wood's Metal compared to PMMA) and phase angle (approximately 15% greater for Wood's Metal). A significant difference in disc temperature was found at the anterior surface after potting with Wood's Metal compared to PMMA, which did not exceed 26 °C. Wood's Metal is linear elastic, stiffer than PMMA and may reduce measurement artifact of potting medium, particularly in the shear directions. Furthermore, it is easier to remove than PMMA, reuseable, and cost effective.