Joint kinematics simulation from medical imaging data

A Novel Low-Pressure Robotic Glove Based on CT-Optimized Finger Joint Kinematic Model for Long-Term Rehabilitation of Stroke Patients

Wearing robotic gloves has become increasingly crucial for hand rehabilitation in stroke patients. However, traditional robotic gloves can exert additional pressure on the hand, such as prolonged use leading to poor blood circulation and muscle stiffness. To address these concerns, this work analyzes the finger kinematic model based on computerized tomography (CT) images of human hands, and designs a low-pressure robotic glove that conforms to finger kinematic characteristics. Firstly, physiological data on finger joint flexion and extension were collected through CT scans. The equivalent rotation centers of finger joints were obtained using the SURF and RANSAC algorithms. Furthermore, the trajectory of finger joint end and the correlation equation of finger joint motion were fitted, and a comprehensive finger kinematic model was established. Based on this finger kinematic model, a novel under-actuated exoskeleton mechanism was designed using a human-machine integration approach. The novel robotic glove fully aligns with the equivalent rotation centers and natural motion trajectories of the fingers, exerting minimal and evenly distributed dynamic pressure on the fingers, with a theoretical static pressure value of zero. Experiments involving gripping everyday objects demonstrated that the novel robotic glove significantly reduces the overall pressure on the fingers during grasping compared to the pneumatic glove and the traditional exoskeleton robotic glove. It is suitable for long-term use by stroke patients for rehabilitation training.

The biomechanical role of the lacertus fibrosus of the biceps brachii Muscle

PURPOSE

The lacertus fibrosus (LF) is involved in various surgeries. However, the biomechanical contribution of the LF remains unclear. The aim of this study was to determine the role of the lacertus fibrosus on the elbow and forearm kinematics and on the biceps brachii muscle lever arms.

METHODS

This biomechanical study was performed on seven fresh-frozen upper limbs of cadavers. Elbow flexion, forearm supination, and biceps brachii muscle lever arms were analyzed in the intact conditions (I) and after superficial (R) and deep part (R2) of the lacertus fibrosus release, respectively.

RESULTS

Elbow flexion shows a significant difference (p < 0.0001) between I, R, R2. Abduction/adduction shows a significant difference between I-R (p < 0.0001) and I-R2 (p < 0.0001). Supination does not show a significant difference in mean maximum amplitude, but between 40 and 70%, there are significant differences. There is a significant mean decrease of lever arm in flexion (28%) and supination (50%) after superficial and deep part of the lacertus fibrosus release.

CONCLUSION

The results of this study show that the lacertus fibrosus increases the lever arm during flexion and supination. It limits the flexion and abduction of the elbow and supination of the forearm. Lacertus fibrosus maintains the rhythmicity between the elbow flexion and supination of the forearm.

LEVEL OF EVIDENCE

Basic science study, biomechanics.

In vivo thorax 3D modelling from costovertebral joint complex kinematics

BACKGROUND

The costovertebral joint complex is mechanically involved in both respiratory function and thoracic spine stability. The thorax has been studied for a long time to understand its involvement in the physiological mechanism leading to specific gas exchange. Few studies have focused on costovertebral joint complex kinematics, and most of them focused on experimental in vitro analysis related to loading tests or global thorax and/or lung volume change analysis. There is however a clinical need for new methods allowing to process in vivo clinical data. This paper presents results from in vivo analysis of the costovertebral joint complex kinematics from clinically-available retrospective data.

METHODS

In this study, in vivo spiral computed tomography imaging data were obtained from 8 asymptomatic subjects at three different lung volumes (from total lung capacity to functional residual capacity) calibrated using a classical spirometer. Fusion methods including 3D modelling and kinematic analysis were used to provide 3D costovertebral joint complex visualization for the true ribs (i.e., first seven pairs of ribs).

FINDINGS

The 3D models of the first seven pairs of costovertebral joint complexes were obtained. A continuous kinematics simulation was interpolated from the three discrete computerized tomography positions. Helical axis representation was also achieved.

INTERPRETATION

Preliminary results show that the method leads to meaningful and relevant results for clinical and pedagogical applications. Research in progress compares data from a sample of healthy volunteers with data collected from patients with cystic fibrosis to obtain new insights about the costovertebral joint complex range of motion and helical axis assessment in different pathological conditions.

3D analysis of the proximal interphalangeal joint kinematics during flexion

Background. Dynamic joint motion recording combined with CT-based 3D bone and joint surface data is accepted as a helpful and precise tool to analyse joint. The purpose of this study is to demonstrate the feasibility of these techniques for quantitative motion analysis of the interphalangeal joint in 3D. Materials and Method. High resolution motion data was combined with an accurate 3D model of a cadaveric index finger. Three light-emitting diodes (LEDs) were used to record dynamic data, and a CT scan of the finger was done for 3D joint surface geometry. The data allowed performing quantitative evaluations such as finite helical axis (FHA) analysis, coordinate system optimization, and measurement of the joint distances in 3D. Results. The FHA varies by 4.9 ± 1.7° on average. On average, the rotation in adduction/abduction and internal/external rotation were 0.3 ± 0.91° and 0.1 ± 0.97°, respectively. During flexion, a translational motion between 0.06 mm and 0.73 mm was observed. Conclusions. The proposed technique and methods appear to be feasible for the accurate assessment and evaluation of the PIP joint motion in 3D. The presented method may help to gain additional insights for the design of prosthetic implants, rehabilitation, and new orthotic devices.

Variability of manual lumbar spine segmentation

Background

The application of kinematic data acquired during biomechanical testing to specimen-specific, three-dimensional models of the spine has emerged as a useful tool in spine biomechanics research. However, the development of these models is subject to segmentation error because of complex morphology and pathologic changes of the spine. This error has not been previously characterized.

Methods

Eight cadaveric lumbar spines were prepared and underwent computed tomography (CT) scanning. After disarticulation and soft-tissue removal, 5 individual vertebrae from these specimens were scanned a second time. The CT images of the full lumbar specimens were segmented twice each by 2 operators, and the images of the individual vertebrae with soft tissue removed were segmented as well. The solid models derived from these differing segmentation sessions were registered, and the distribution of distances between nearest neighboring points was calculated to evaluate the accuracy and precision of the segmentation technique.

Results

Manual segmentation yielded root-mean-square errors below 0.39 mm for accuracy, 0.33 mm for intrauser precision, and 0.35 mm for interuser precision. Furthermore, the 95th percentile of all distances was below 0.75 mm for all analyses of accuracy and precision.

Conclusions

These findings indicate that such models are highly accurate and that a high level of intrauser and interuser precision can be achieved. The magnitude of the error presented here should inform the design and interpretation of future studies using manual segmentation techniques to derive models of the lumbar spine.

Musculoskeletal modeling of the suboccipital spine: kinematics analysis, muscle lengths, and muscle moment arms during axial rotation and flexion extension

STUDY DESIGN

In vitro and modeling study of upper cervical spine (UCS) three-dimensional (3D) kinematics and muscle moment arm (MA) during axial rotation (AR) and flexion extension (FE).

OBJECTIVE

To create musculoskeletal models with movement simulation including helical axis (HA) and muscle features.

SUMMARY OF BACKGROUND DATA

Integration of various kinematics and muscle data into specific-specimen 3D anatomical models with graphical representation of HA and muscle orientation and MA is not reported for the UCS musculoskeletal system.

METHODS

Kinematics, anatomical, and computed tomographic imaging data were sampled in 10 anatomical specimens. Using technical markers and anatomical landmarks digitizing, spatial position of segments was computed for five discrete positions of AR and FE using a 3D digitizer. To obtain musculoskeletal model simulation, a registration method was used to combine collected data. Processing was performed using orientation vector and HA computation and suboccipital muscle features (i.e., length and MA) relative to motion angle.

RESULTS

Range of motion and coupling were in agreement with previous in vitro studies. HA (i.e., location and orientation) showed low variation at the occipitoaxial and atlantoaxial levels for FE and AR, respectively. The main orientation of the HA was vertical at C1-C2 during AR and horizontal at C0-C1 during FE. For muscles MA, absolute peak value (ranging from 20 to 40 mm) occurred at different poses depending on the analyzed muscle and motion. Poor magnitude was found for obliquus capitis inferior and rectus capitis posterior minor in FE and AR, respectively.

CONCLUSION

On the basis of previous methods, we developed a protocol to create UCS musculoskeletal modeling with motion simulation including HA and suboccipital muscles representation. In this study, simultaneous segmental movement displaying with HA and muscles features was shown to be feasible.

Development of a model based method for investigating facet articulation

Reported investigations of facet articulation in the human spine have often been conducted through the insertion of pressure sensitive film into the joint space, which requires incision of the facet capsule and may alter the characteristics of interaction between the facet surfaces. Load transmission through the facet has also been measured using strain gauges bonded to the articular processes. While this method allows for preservation of the facet capsule, it requires extensive instrumentation of the spine, as well as strain-gauge calibration, and is highly sensitive to placement and location of the strain gauges. The inherently invasive nature of these techniques makes it difficult to translate them into medical practice. A method has been developed to investigate facet articulation through the application of test kinematics to a specimen-specific rigid-body model of each vertebra within a lumbar spine segment. Rigid-body models of each vertebral body were developed from CT scans of each specimen. The distances between nearest-neighboring points on each facet surface were calculated for specific time frames of each specimen's flexion/extension test. A metric describing the proportion of each facet surface within a distance (2 mm) from the neighboring surface, the contact area ratio (CAR), was calculated at each of these time frames. A statistically significant difference (p<0.037) was found in the CAR between the time frames corresponding to full flexion and full extension in every level of the lumbar spine (L1-L5) using the data obtained from the seven specimens evaluated in this study. The finding that the contact area of the facet is greater in extension than flexion corresponds to other findings in the literature, as well as the generally accepted role of the facets in extension. Thus, a biomechanical method with a sufficiently sensitive metric is presented as a means to evaluate differences in facet articulation between intact and treated or between healthy and pathologic spines.

Rigid model-based 3D segmentation of the bones of joints in MR and CT images for motion analysis

There are several medical application areas that require the segmentation and separation of the component bones of joints in a sequence of images of the joint acquired under various loading conditions, our own target area being joint motion analysis. This is a challenging problem due to the proximity of bones at the joint, partial volume effects, and other imaging modality-specific factors that confound boundary contrast. In this article, a two-step model-based segmentation strategy is proposed that utilizes the unique context of the current application wherein the shape of each individual bone is preserved in all scans of a particular joint while the spatial arrangement of the bones alters significantly among bones and scans. In the first step, a rigid deterministic model of the bone is generated from a segmentation of the bone in the image corresponding to one position of the joint by using the live wire method. Subsequently, in other images of the same joint, this model is used to search for the same bone by minimizing an energy function that utilizes both boundary- and region-based information. An evaluation of the method by utilizing a total of 60 data sets on MR and CT images of the ankle complex and cervical spine indicates that the segmentations agree very closely with the live wire segmentations, yielding true positive and false positive volume fractions in the range 89%-97% and 0.2%-0.7%. The method requires 1-2 minutes of operator time and 6-7 min of computer time per data set, which makes it significantly more efficient than live wire-the method currently available for the task that can be used routinely.

Hand skin reconstruction from skeletal landmarks

Many studies related to three-dimensional facial reconstruction have been previously reported. On the other hand, no extensive work has been found in the literature about hand reconstruction as an identification method. In this paper, the feasibility of virtual reconstruction of hand skin based on (1) its skeleton and (2) another hand skin and skeleton used as template was assessed. One cadaver hand and one volunteer's hand have been used. For the two hands, computer models of the bones and skin were obtained from computerized tomography. A customized software allowed locating spatial coordinates of bony anatomical landmarks on the models. From these landmarks, the spatial relationships between the models were determined and used to interpolate the missing hand skin. The volume of the interpolated skin was compared to the real skin obtained from medical imaging for validation. Results seem to indicate that such a method is of interest to give forensic investigators morphological clues related to an individual hand skin based on its skeleton. Further work is in progress to finalize the method.

Low-dose computed tomography: a solution for in vivo medical imaging and accurate patient-specific 3D bone modeling?

BACKGROUND

The number of in vivo clinical biomedical experiments based on computed tomography is increasing. International radiation-protection bodies are promoting the use of low-dose computed tomography to reduce radiation absorption by the subject undergoing imaging. On the other hand no data exist in the literature to quantify whether or not low-dose computed tomography would lead to a decrease of result quality when used for three-dimensional bone modeling and related measurements.

METHODS

This paper aimed at finding a consensus between minimal X-ray radiation of the subject, and satisfactory image data quality, especially for accurate three-dimensional bone modeling. Several standard computed tomography and low-dose computed tomography sequences were analyzed in three tests and statistically compared.

FINDINGS

Absence of significant difference between standard and low-dose computed sequences indicated that the low-dose setting would not produce less accurate three-dimensional models, while it decreased the effective X-ray dose up to 90% compared to standard settings.

INTERPRETATION

Low-dose computed tomography seems suitable for accurate three-dimensional bone modeling, while the related effective X-ray radiation is low. Such setting is therefore advised for any in vivo medical imaging aiming to collect bone data.

A new software tool for 3D motion analyses of the musculo-skeletal system

BACKGROUND

Many clinical and biomechanical research studies, particularly in orthopaedics, nowadays involve forms of movement analysis. Gait analysis, video-fluoroscopy of joint replacement, pre-operative planning, surgical navigation, and standard radiostereometry would require tools for easy access to three-dimensional graphical representations of rigid segment motion. Relevant data from this variety of sources need to be organised in structured forms. Registration, integration, and synchronisation of segment position data are additional necessities. With this aim, the present work exploits the features of a software tool recently developed within a EU-funded project ('Multimod') in a series of different research studies.

METHODS

Standard and advanced gait analysis on a normal subject, in vivo fluoroscopy-based three-dimensional motion of a replaced knee joint, patellar and ligament tracking on a knee specimen by a surgical navigation system, stem-to-femur migration pattern on a patient operated on total hip replacement, were analysed with standard techniques and all represented by this innovative software tool. Segment pose data were eventually obtained from these different techniques, and were successfully imported and organised in a hierarchical tree within the tool.

FINDINGS

Skeletal bony segments, prosthesis component models and ligament links were registered successfully to corresponding marker position data for effective three-dimensional animations. These were shown in various combinations, in different views, from different perspectives, according to possible specific research interests.

INTERPRETATION

Bioengineering and medical professionals would be much facilitated in the interpretation of the motion analysis measurements necessary in their research fields, and would benefit therefore from this software tool.

In Vivo Registration of Both Electrogoniometry and Medical Imaging: Development and Application on the Ankle Joint Complex

An in vivo method for joint kinematics visualization and analysis is described. Low-dose computed tomography allowed three-dimensional joint modeling, and electrogoniometry collected joint kinematic data. Data registration occurred using palpated anatomical landmarks to obtain interactive computer joint simulation. The method was applied on one volunteer's ankle, and reproducibility was tested (maximal discrepancy: 3.6 deg and 5.5 mm for rotation and translation respectively).

Double-step registration of in vivo stereophotogrammetry with both in vitro 6-DOFs electrogoniometry and CT medical imaging

Standard registration techniques of bone morphology to motion analysis data often lead to unsatisfactory motion simulation because of discrepancies during the location of anatomical landmarks in the datasets. This paper describes an iterative registration method of a three-dimensional (3D) skeletal model with both 6 degrees-of-freedom joint kinematics and standard motion analysis data. The method is demonstrated in this paper on the lower limb. The method includes two steps. A primary registration allowed synchronization of in vitro kinematics of the knee and ankle joints using flexion/extension angles from in vivo gait analysis. Results from primary registration were then improved by a so-called advanced registration, which integrated external constraints obtained from experimental gait pre-knowledge. One cadaver specimen was analyzed to obtain both joint kinematics of knee and ankle joints using 3D electrogoniometry, and 3D bone morphology from medical imaging data. These data were registered with motion analysis data from a volunteer during the execution of locomotor tasks. Computer graphics output was implemented to visualize the results for a motion of sitting on a chair. Final registration results allowed the observation of both in vivo motion data and joint kinematics from the synchronized specimen data. The method improved interpretation of gait analysis data, thanks to the combination of realistic 3D bone models and joint mechanism. This method should be of interest both for research in gait analysis and medical education. Validation of the overall method was performed using RMS of the differences between bone poses estimated after registration and original data from motion analysis.

Iso-shaping rigid bodies for estimating their motion from image sequences

In many medical imaging applications, due to the limited field of view of imaging devices, acquired images often include only a part of a structure. In such situations, it is impossible to guarantee that the images will contain exactly the same physical extent of the structure at different scans, which leads to difficulties in registration and in many other tasks, such as the analysis of the morphology, architecture, and kinematics of the structures. To facilitate such analysis, we developed a general method, referred to as iso-shaping, that generates structures of the same shape from segmented image sequences. The basis for this method is to automatically find a set of key points, called shape centers, in the segmented partial anatomic structure such that these points are present in all images and that they represent the same physical location in the object, and then trim the structure using these points as reference. The application area considered here is the analysis of the morphology, architecture, and kinematics of the joints of the foot from magnetic resonance images acquired at different joint positions and load conditions. The accuracy of the method is analyzed by utilizing ten data sets for iso-shaping the tibia and the fibula via four evaluative experiments. The analysis indicates that iso-shaping produces results as predicted by the theoretical framework.

The use of medical imaging-based kinematic analysis in the evaluation of wrist function and outcome

The authors developed a 3D CT technique to analyze in vivo variations in carpal bone position based on 3D reconstruction of transverse CT data in 5 wrist positions. The subject groups analyzed consisted of 40 asymptomatic volunteers and 30 patients with various wrist disorders (fractures, instabilities). In 11 anatomic specimens, this kinematic analysis was completed by a radiographic morphologic study and an investigation of capsular ligament anatomy. Clinical applications showed that carpal bone motion in the injured wrist was not significantly different from contralateral, asymptomatic wrist motion. In both wrists of patients with unilateral pathology, however, significant differences were observed as compared with asymptomatic volunteers. Scaphoid motion was bilaterally altered, suggesting the existence of anatomic or kinematic factors predisposing to certain carpal pathologies.

Relation of jaw sounds and kinematics visualized and quantified using 3-D computer animation

The management of jaw pain or temporomandibular disorders (TMD) has been controversial regarding temporomandibular joint (TMJ) sounds and their implication regarding TMD prognosis. 3-D computer animation was used to visualize and quantify the internal mechanics of natural mandibular motion synchronized with TMJ sounds. Mandibular movements of four TMD patients and two healthy subjects were recorded using CCD cameras and reflective markers. Sounds were recorded with electret microphones. Magnetic resonance imaging was used to create 3-D geometric models. Visualization of the internal anatomy, mandibular condyle and glenoid fossa, revealed that the condyle initially rotated within the fossa and then moved out of the fossa along, and well beyond, the articular eminence. Power in the opening sound recordings after the condyle moved out of the fossa was significantly greater than when the condyle was within the fossa (p<0.001). The louder opening sounds were often classified as TMJ clicks, implying that clicks occur after the condyle moves out of the fossa. The 3-D computer animation should help resolve the implication of TMJ sounds regarding TMD prognosis by providing visualization and quantization of the TMJ internal mechanics during sound production.

Data representation for joint kinematics simulation of the lower limb within an educational context

Three-dimensional (3D) visualization is becoming increasingly frequent in both qualitative and quantitative biomechanical studies of anatomical structures involving multiple data sources (e.g. morphological data and kinematics data). For many years, this kind of experiment was limited to the use of bi-dimensional images due to a lack of accurate 3D data. However, recent progress in medical imaging and computer graphics has forged new perspectives. Indeed, new techniques allow the development of an interactive interface for the simulation of human motions combining data from both medical imaging (i.e., morphology) and biomechanical studies (i.e., kinematics). Fields of application include medical education, biomechanical research and clinical research. This paper presents an experimental protocol for the development of anatomically realistic joint simulation within a pedagogical context. Results are shown for the lower limb. Extension to other joints is straightforward. This work is part of the Virtual Animation of the Kinematics of the Human project (VAKHUM) (http://www.ulb.ac.be/project/vakhum).

Registration of 6-DOFs electrogoniometry and CT medical imaging for 3D joint modeling

The paper describes a method in which two data-collecting systems, medical imaging and electrogoniometry, are combined to allow the accurate and simultaneous modeling of both the spatial kinematics and the morphological surface of a particular joint. The joint of interest (JOI) is attached to a Plexiglas jig that includes four metallic markers defining a local reference system (R(GONIO)) for the kinematics data. Volumetric data of the JOI and the R(GONIO) markers are collected from medical imaging. The spatial location and orientation of the markers in the global reference system (R(CT)) of the medical-imaging environment are obtained by applying object-recognition and classification methods on the image dataset. Segmentation and 3D isosurfacing of the JOI are performed to produce a 3D model including two anatomical objects-the proximal and distal JOI segments. After imaging, one end of a custom-made 3D electrogoniometer is attached to the distal segment of the JOI, and the other end is placed at the R(GONIO) origin; the JOI is displaced and the spatial kinematics data is recorded by the goniometer. After recording, data registration from R(GONIO) to R(CT) occurred prior to simulation. Data analysis was performed using both joint coordinate system (JCS) and instantaneous helical axis (IHA).Finally, the 3D joint model is simulated in real time using the experimental kinematics data. The system is integrated into a computer graphics interface, allowing free manipulation of the 3D scene. The overall accuracy of the method has been validated with two other kinematics data collection methods including a 3D digitizer and interpolation of the kinematics data from discrete positions obtained from medical imaging. Validation has been performed on both superior and inferior radio-ulna joints (i.e. prono-supination motion). Maximal RMS error was 1 degrees and 1.2mm on the helical axis rotation and translation, respectively. Prono-supination of the forearm showed a total rotation of 132 degrees for 0.8mm of translation. The method reproducibility using JCS parameters was in average 1 degrees (maximal deviation=2 degrees ) for rotation, and 1mm (maximal deviation=2mm) for translation. In vitro experiments have been performed on both knee joint and ankle joint. Averaged JCS parameters for the knee were 109 degrees, 17 degrees and 4 degrees for flexion, internal rotation and abduction, respectively. Averaged maximal translation values for the knee were 12, 3 and 4mm posteriorly, medially and proximally, respectively. Averaged JCS parameters for the ankle were 43 degrees, 9 degrees and 3 degrees for plantarflexion, adduction and internal rotation, respectively. Averaged maximal translation values for the ankle were 4, 2 and 1mm anteriorly, medially and proximally, respectively.

Knee surgery assistance: patient model construction, motion simulation, and biomechanical visualization

We present a new system that integrates computer graphics, physics-based modeling, and interactive visualization to assist knee study and surgical operation. First, we discuss generating patient-specific three-dimensional (3-D) knee models from patient's magnetic resonant images (MRIs). The 3-D model is obtained by deforming a reference model to match the MRI dataset. Second, we present simulating knee motion that visualizes patient-specific motion data on the patient-specific knee model. Third, we introduce visualizing biomechanical information on a patient-specific model. The focus is on visualizing contact area, contact forces, and menisci deformation. Traditional methods have difficulty in visualizing knee contact area without using invasive methods. The approach presented here provides an alternative of visualizing the knee contact area and forces without any risk to the patient. Finally, a virtual surgery can be performed. The constructed 3-D knee model is the basis of motion simulation, biomechanical visualization, and virtual surgery. Knee motion simulation determines the knee rotation angles as well as knee contact points. These parameters are used to solve the biomechanical model. Our results integrate 3-D construction, motion simulation, and biomechanical visualization into one system. Overall, the methodologies here are useful elements for future virtual medical systems where all the components of visualization, automated model generation, and surgery simulation come together.

An in vivo analysis of the motion of the peri-talar joint complex based on MR imaging

The purpose of this work is to characterize the three-dimensional (3-D) motion of the peritalar joint complex in vivo using magnetic resonance imaging (MRI). Each image data set utilized in this study is made of 60 longitudinal MR slices of the foot in each of eight positions from extreme pronation to extreme supination. We acquired and analyzed ten such data sets from normal subjects, seven data sets from pathological joints and two postoperative data sets. We segmented and formed the surfaces of the calcaneus, talus, cuboid and navicular from all data sets. About 30 geometrical parameters are computed for each joint in each position. The results present features of normal motion and show how normal and abnormal motion can be distinguished. They also show the consequences of surgery on the motion. This non- invasive method offers a unique tool to characterize and quantify the 3-D motion of the rearfoot in vivo from MR images.

A characterization of the geometric architecture of the peritalar joint complex via MRI: an aid to the classification of foot type

The purpose of this work is to study the architecture of the rearfoot using in vivo MR image data. Each data set used in this study is made of sixty sagittal slices of the foot acquired in a 1.5-T commercial GE MR system. We use the live-wire method to delineate boundaries and form the surfaces of the bones. In the first part of this work, we describe a new method to characterize the three-dimensional (3-D) relationships of four bones of the peritalar complex and apply this description technique to data sets from ten normal subjects and from seven pathological cases. In the second part, we propose a procedure to classify feet, based on the values of these new architectural parameters. We conclude that this noninvasive method offers a unique tool to characterize the 3-D architecture of the feet in live patients, based on a set of new architectural parameters. This can be integrated into a set of tools to improve diagnosis and treatment of foot malformations.