Analytical study on the kinematic and dynamic behaviors of a knee joint

Medial Patellofemoral Ligament Reconstruction: A Case Report for an Integrated Rehabilitation Approach

Medial patellofemoral ligament (MPFL) reconstruction is a surgical treatment, primarily indicated for patients grappling with recurrent patellar instability stemming from traumatic injury or underlying anatomical anomalies. This abstract aims to elucidate the indispensable role of physiotherapy in the post-operative rehabilitation trajectory for individuals subjected to MPFL reconstruction. Physiotherapy emerges as a linchpin in securing a triumphant outcome, fostering the healing of patellar stability, augmentation of range of motion (ROM), and bolstering muscular strength while concurrently mitigating potential complications. The abstract accentuates salient facets of a physiotherapeutic regimen, encompassing prompt post-operative mobilization, meticulously tailored exercise paradigms, adept utilization of manual therapy modalities, and comprehensive patient education. Notably, this collaborative endeavor between orthopedic surgeons and physiotherapists is pivotal in optimizing patient convalescence, restoring them to their pre-injury functional acumen. A paramount emphasis is placed on individualized rehabilitation strategies, gradual and systematic exercise protocols, and patient adherence, thereby underscoring how the harmonious synergy between surgical and physiotherapeutic interventions augments the prospects of achieving a successful MPFL reconstruction outcome.

A Wearable Lower Limb Exoskeleton: Reducing the Energy Cost of Human Movement

Human body enhancement is an interesting branch of robotics. It focuses on wearable robots in order to improve the performance of human body, reduce energy consumption and delay fatigue, as well as increase body speed. Robot-assisted equipment, such as wearable exoskeletons, are wearable robot systems that integrate human intelligence and robot power. After careful design and adaptation, the human body has energy-saving sports, but it is an arduous task for the exoskeleton to achieve considerable reduction in metabolic rate. Therefore, it is necessary to understand the biomechanics of human sports, the body, and its weaknesses. In this study, a lower limb exoskeleton was classified according to the power source, and the working principle, design idea, wearing mode, material and performance of different types of lower limb exoskeletons were compared and analyzed. The study shows that the unpowered exoskeleton robot has inherent advantages in endurance, mass, volume, and cost, which is a new development direction of robot exoskeletons. This paper not only summarizes the existing research but also points out its shortcomings through the comparative analysis of different lower limb wearable exoskeletons. Furthermore, improvement measures suitable for practical application have been provided.

Articular human joint modelling

The work reported in this paper encapsulates the theories and algorithms developed to drive the core analysis modules of the software which has been developed to model a musculoskeletal structure of anatomic joints. Due to local bone surface and contact geometry based joint kinematics, newly developed algorithms make the proposed modeller different from currently available modellers. There are many modellers that are capable of modelling gross human body motion. Nevertheless, none of the available modellers offer complete elements of joint modelling. It appears that joint modelling is an extension of their core analysis capability, which, in every case, appears to be musculoskeletal motion dynamics. It is felt that an analysis framework that is focused on human joints would have significant benefit and potential to be used in many orthopaedic applications. The local mobility of joints has a significant influence in human motion analysis, in understanding of joint loading, tissue behaviour and contact forces. However, in order to develop a bone surface based joint modeller, there are a number of major problems, from tissue idealizations to surface geometry discretization and non-linear motion analysis. This paper presents the following: (a) The physical deformation of biological tissues as linear or non-linear viscoelastic deformation, based on spring-dashpot elements. (b) The linear dynamic multibody modelling, where the linear formulation is established for small motions and is particularly useful for calculating the equilibrium position of the joint. This model can also be used for finding small motion behaviour or loading under static conditions. It also has the potential of quantifying the joint laxity. (c) The non-linear dynamic multibody modelling, where a non-matrix and algorithmic formulation is presented. The approach allows handling complex material and geometrical nonlinearity easily. (d) Shortest path algorithms for calculating soft tissue line of action geometries. The developed algorithms are based on calculating minimum ‘surface mass’ and ‘surface covariance’. An improved version of the ‘surface covariance’ algorithm is described as ‘residual covariance’. The resulting path is used to establish the direction of forces and moments acting on joints. This information is needed for linear or non-linear treatment of the joint motion. (e) The final contribution of the paper is the treatment of the collision. In the virtual world, the difficulty in analysing bodies in motion arises due to body interpenetrations. The collision algorithm proposed in the paper involves finding the shortest projected ray from one body to the other. The projection of the body is determined by the resultant forces acting on it due to soft tissue connections under tension. This enables the calculation of collision condition of non-convex objects accurately. After the initial collision detection, the analysis involves attaching special springs (stiffness only normal to the surfaces) at the ‘potentially colliding points’ and motion of bodies is recalculated. The collision algorithm incorporates the rotation as well as translation. The algorithm continues until the joint equilibrium is achieved. Finally, the results obtained based on the software are compared with experimental results obtained using cadaveric joints.

An anatomically based patient-specific finite element model of patella articulation: towards a diagnostic tool

A 3D anatomically based patient-specific finite element (FE) model of patello-femoral (PF) articulation is presented to analyse the main features of patella biomechanics, namely, patella tracking (kinematics), quadriceps extensor forces, surface contact and internal patella stresses. The generic geometries are a subset from the model database of the International Union of Physiological Sciences (IUPS) (http://www.physiome.org.nz) Physiome Project with soft tissue derived from the widely used visible human dataset, and the bones digitised from an anatomically accurate physical model with muscle attachment information. The models are customised to patient magnetic resonance images using a variant of free-form deformation, called 'host-mesh' fitting. The continuum was solved using the governing equation of finite elasticity, with the multibody problem coupled through contact mechanics. Additional constraints such as tissue incompressibility are also imposed. Passive material properties are taken from the literature and implemented for deformable tissue with a non-linear micro-structurally based constitutive law. Bone and cartilage are implemented using a 'St-Venant Kirchoff' model suitable for rigid body rotations. The surface fibre directions have been estimated from anatomy images of cadaver muscle dissections and active muscle contraction was based on a steady-state calcium-tension relation. The 3D continuum model of muscle, tendon and bone is compared with experimental results from the literature, and surgical simulations performed to illustrate its clinical assessment capabilities (a Maquet procedure for reducing patella stresses and a vastus lateralis release for a bipartite patella). Finally, the model limitations, issues and future improvements are discussed.

3-D Anatomically Based Dynamic Modeling of the Human Knee to Include Tibio-Femoral and Patello-Femoral Joints

An anatomical dynamic model consisting of three body segments, femur, tibia and patella, has been developed in order to determine the three-dimensional dynamic response of the human knee. Deformable contact was allowed at all articular surfaces, which were mathematically represented using Coons’ bicubic surface patches. Nonlinear elastic springs were used to model all ligamentous structures. Two joint coordinate systems were employed to describe the six-degrees-of-freedom tibio-femoral (TF) and patello-femoral (PF) joint motions using twelve kinematic parameters. Two versions of the model were developed to account for wrapping and nonwrapping of the quadriceps tendon around the femur. Model equations consist of twelve nonlinear second-order ordinary differential equations coupled with nonlinear algebraic constraint equations resulting in a Differential-Algebraic Equations (DAE) system that was solved using the D_ifferential/A_lgebraic S_ystem S_ol_ver (DASSL) developed at Lawrence Livermore National Laboratory. Model calculations were performed to simulate the knee extension exercise by applying non-linear forcing functions to the quadriceps tendon. Under the conditions tested, both “screw home mechanism” and patellar flexion lagging were predicted. Throughout the entire range of motion, the medial component of the TF contact force was found to be larger than the lateral one while the lateral component of the PF contact force was found to be larger than the medial one. The anterior and posterior fibers of both anterior and posterior cruciate ligaments, ACL and PCL, respectively, had opposite force patterns: the posterior fibers were most taut at full extension while the anterior fibers were most taut near 90° of flexion. The ACL was found to carry a larger total force than the PCL at full extension, while the PCL carried a larger total force than the ACL in the range of 75° to 90° of flexion.

Development of the concepts of knee kinematics

OBJECTIVES

To review the experimental evidence and development of concepts in knee kinematics and to present a synthesis of current theories.

DATA SOURCES

Historical literature from private collections and published journals, from Galen in 160 AD, and Weber and Weber in 1860, through to current research in knee kinematics, sourced through MEDLINE and CINAHL.

STUDY SELECTION

Studies of the healthy human knee in vivo and in vitro were included. Other studies were included when relevant, for example, when knee surgery methods have led to a change in kinematic concepts. Of 285 items, 94 were included based on their contribution to original research. When relevant, authors were contacted to resolve issues.

DATA EXTRACTION

Sources included were descriptive studies, anatomic dissections, controlled experimental designs, editorials, and review articles.

DATA SYNTHESIS

The axes of rotation of the knee are fundamental to kinematic models. The hinge model is contradicted by the ellipsoid shape of the femoral condyles, which results in a moving instant center of motion. However, the "instant center of motion" model was based on analysis of sagittal sections, oblique to the plane of movement and neglecting rotation. The four-bar linkage theory linked cruciate ligament isometry with the roll and glide pattern of knee motion. Recently, however, studies of the biomechanics and histology of the knee ligaments have enabled more accurate kinematic modeling. Three-dimensional imaging and computer modeling have made possible analysis of kinematics parallel to the planes of motion and incorporation of conjoint rotation. Femoral roll back is now described as the manifestation of longitudinal rotation during knee flexion.

CONCLUSIONS

Current research concludes that the knee has 4 independent axes: patella, posterior condylar, distal condylar, and longitudinal axes. The axes combine to produce the characteristic helical motion of the knee.

Tibiofemoral Joint-Surface Motions in Weight-Bearing and Non-Weight-Bearing Movement

Context:

Analyses of the path of instant center of rotation (PICR) can be used to infer joint-surface rolling and sliding motion (arthrokinematics). Previous PICR research has not quantified arthrokinematics during weight-bearing (WB) movement conditions or studied the association of muscle activity with arthrokinematics.

Objective:

To examine tibiofemoral arthrokinematics and thigh-muscle EMG during WB and non-weight-bearing (NWB) movement.

Design:

2 x 9 repeated-measures experiment.

Setting:

Laboratory.

Participants:

11 healthy adults (mean age 24 years).

Main Outcome Measures:

Tibiofemoral percentage rolling arthrokinematics and quadriceps: hamstring EMG activity.

Results:

WB percentage rolling (76.0% ± 4.7%) exceeded that of NWB (57.5% ± 1.8%) through terminal knee extension (F8,80= 8.99,P< .001). Quadriceps:hamstring EMG ratios accounted for 45.1% and 34.7% of the variance in arthrokinematics throughout the WB and NWB movement conditions, respectively (P< .001).

Conclusions:

More joint-surface rolling occurs through terminal knee extension during WB movement and is associated with an increase in hamstring activity.

Three-dimensional dynamic behaviour of the human knee joint under impact loading

The objective of this study is to determine the three-dimensional dynamic response of the human knee joint. A three-dimensional anatomical dynamic model was thus developed and consists of two body segments in contact (the femur and tibia) executing a general three-dimensional dynamic motion within the constraints of the different ligamentous structures. Each of the articular surfaces at the tibio-femoral joint was represented mathematically by a separate mathematical function. The joint ligaments were modelled as nonlinear elastic springs. The six-degrees-of-freedom joint motions were characterized by using six kinematic parameters, and ligamentous forces were expressed in terms of these six parameters. Knee response was studied by considering sudden external forcing pulse loads applied to the tibia. Model equations consist of nonlinear second-order ordinary differential equations coupled with nonlinear algebraic constraint conditions. Constraint equations were written to maintain at least one-point contact throughout motion; one- and two-point contact versions of the model were developed. This Differential-Algebraic Equations (DAE) system was solved by employing a DAE solver: the Differential/Algebraic System Solver (DASSL) developed at Lawrence Livermore National Laboratory. A solution representing the response of this three-dimensional dynamic system was thus obtained for the first time. Earlier attempts to determine the system's response were unsuccessful owing to the inherent numerical instabilities in the system and the limitations of the solution techniques. Under the conditions tested, evidence of "femoral roll back" on both medial and lateral tibial plateaus was not observed from the model predictions. In the range of 20 degrees to 66 degrees of knee flexion, the lateral tibial contact point moved posteriorly while the medial tibial contact point moved anteriorly. In the range of 66 degrees to 90 degrees of knee flexion, contact was maintained only on the medial side and the tibial contact point (on the medial side) continued to move anteriorly. It was further found that increasing pulse amplitude and/or duration caused a decrease in the magnitude of the tibio-femoral contact force at a given flexion angle. These results suggest that increasing load level caused a decrease in joint stiffness. The results of this study also show that the anterior fibres of the posterior cruciate and the medial collateral ligaments are the primary restraints for a posterior forcing pulse in the range of 20 degrees to 90 degrees of knee flexion; this explains why most isolated posterior cruciate ligament injuries and combined injuries to the posterior cruciate and the medial collateral result from a posterior impact on a flexed knee.