CAT & MAUS: A novel system for true dynamic motion measurement of underlying bony structures with compensation for soft tissue movement

Improving ultrasound-based bone registration using the iterative closest point algorithm paired with a complex optimization solver

The Iterative Close Point (ICP) algorithm is used for bone registrations based on ultrasound measurements. However, the ICP has been shown to suffer from local minima. The Complex optimization, as a more robust routine compared to the commonly used gradient-based algorithms, could be an alternative for solving the ICP problem. In this study, we investigated the effect of the initial estimate and the number of registration points on bone registrations achieved using the ICP and a Complex optimization routine and we compared it against using Quadratic Sequential Programming (SQP). Ultrasound measurements were performed with an A-mode probe on a bovine humerus and an ovine femur embedded into ballistic gel. Simultaneously, the bones and the probe were tracked in 3D space using retroreflective markers. Kinematic, ultrasound and geometrical data obtained from scans of the specimens and the probe served as input to a bone registrations routine. Registrations were performed using two ICP solvers for different initial estimates and number of registration points. On average, 68 % of the Complex optimization registrations had less than 1 mm translation error and less than 1° rotational error for perturbations of the initial estimate from the reference measurements compared to the 35 % of the SQP ones. Similar medians of registration errors were observed between the two methods for variations of the number of the employed registration points. Although the Complex optimization provided accurate bone registrations for all cases, the objective function could not always determine the registrations with the smallest registration error. Future research should explore methodologies to overcome this challenge.

3D free-hand ultrasound to register anatomical landmarks at the pelvis and localize the hip joint center in lean and obese individuals

3D free-hand ultrasound (3DFUS) is becoming increasingly popular to assist clinical gait analysis because it is cost- and time-efficient and does not expose participants to radiation. The aim of this study was to evaluate its reliability in localizing the anterior superior iliac spine (ASIS) at the pelvis and the hip joint centers (HJC). Additionally, we evaluated its accuracy to get a rough estimation of the potential to use of 3DFUS to segment bony surface. This could offer potential to register medical images to motion capture data in future. To evaluate reliability, a test–retest study was conducted in 16 lean and 19 obese individuals. The locations of the ASIS were determined by manual marker placement (MMP), an instrumented pointer technique (IPT), and with 3DFUS. The HJC location was also determined with 3DFUS. To quantify reliability, intraclass correlation coefficients (ICCs), the standard error of measurement (SEm), among other statistical parameters, were calculated for the identified locations between the test and retest. To assess accuracy, the surface of a human plastic pelvic phantom was segmented with 3DFUS in a distilled water bath in 27 trials and compared to a 3D laser scan of the pelvis. Regarding reliability, the MMP, but especially the IPT showed high reliability in lean (SEm: 2–3 mm) and reduced reliability in obese individuals (SEm: 6–15 mm). Compared to MMP and IPT, 3DFUS presented lower reliability in the lean group (SEm: 2–4 mm vs. 2–8 mm, respectively) but slightly better values in the obese group (SEm: 7–11 mm vs. 6–16 mm, respectively). Correlations between test–retest reliability and torso body fat mass (% of body mass) indicated a moderate to strong relationship for MMP and IPT but only a weak correlation for the 3DFUS approach. The water-bath experiments indicated an acceptable level of 3.5 (1.7) mm of accuracy for 3DFUS in segmenting bone surface. Despite some difficulties with single trials, our data give further rise to the idea that 3DFUS could serve as a promising tool in future to inform marker placement and hip joint center location, especially in groups with higher amount of body fat.

In situ comparison of A-mode ultrasound tracking system and skin-mounted markers for measuring kinematics of the lower extremity

Skin-mounted marker based motion capture systems are widely used in measuring the movement of human joints. Kinematic measurements associated with skin-mounted markers are subject to soft tissue artifacts (STA), since the markers follow skin movement, thus generating errors when used to represent motions of underlying bone segments. We present a novel ultrasound tracking system that is capable of directly measuring tibial and femoral bone surfaces during dynamic motions, and subsequently measuring six-degree-of-freedom (6-DOF) tibiofemoral kinematics. The aim of this study is to quantitatively compare the accuracy of tibiofemoral kinematics estimated by the ultrasound tracking system and by a conventional skin-mounted marker based motion capture system in a cadaveric experimental scenario. Two typical tibiofemoral joint models (spherical and hinge models) were used to derive relevant kinematic outcomes. Intra-cortical bone pins equipped with optical markers were inserted in the tibial and femoral bones to serve as a reference to provide ground truth kinematics. The ultrasound tracking system resulted in lower kinematic errors than the skin-mounted markers (the ultrasound tracking system: maximum root-mean-square (RMS) error 3.44° for rotations and 4.88 mm for translations, skin-mounted markers with the spherical joint model: 6.32° and 6.26 mm, the hinge model: 6.38° and 6.52 mm). Our proposed ultrasound tracking system has the potential of measuring direct bone kinematics, thereby mitigating the influence and propagation of STA. Consequently, this technique could be considered as an alternative method for measuring 6-DOF tibiofemoral kinematics, which may be adopted in gait analysis and clinical practice.

A Novel Ultrasound-Based Lower Extremity Motion Tracking System

Tracking joint motion of the lower extremity is important for human motion analysis. In this study, we present a novel ultrasound-based motion tracking system for measuring three-dimensional (3D) position and orientation of the femur and tibia in 3D space and quantifying tibiofemoral kinematics under dynamic conditions. As ultrasound is capable of detecting underlying bone surface noninvasively through multiple layers of soft tissues, an integration of multiple A-mode ultrasound transducers with a conventional motion tracking system provides a new approach to track the motion of bone segments during dynamic conditions. To demonstrate the technical and clinical feasibilities of this concept, an in vivo experiment was conducted. For this purpose the kinematics of healthy individuals were determined in treadmill walking conditions and stair descending tasks. The results clearly demonstrated the potential of tracking skeletal motion of the lower extremity and measuring six-degrees-of-freedom (6-DOF) tibiofemoral kinematics and related kinematic alterations caused by a variety of gait parameters. It was concluded that this prototyping system has great potential to measure human kinematics in an ambulant, non-radiative, and noninvasive manner.