Helical Axis Data Visualization and Analysis of the Knee Joint Articulation

2016 ◽  
Vol 138 (9) ◽  
Author(s):  
Ricardo Manuel Millán Vaquero ◽  
Alexander Vais ◽  
Sean Dean Lynch ◽  
Jan Rzepecki ◽  
Karl-Ingo Friese ◽  
...  
Keyword(s):  
Knee Joint ◽  
Lie Algebra ◽  
Degrees Of Freedom ◽  
Spatial Scales ◽  
Three Dimensional ◽  
Patient Specific ◽  
Helical Axis ◽  
Accurate Analysis ◽  
Related Data ◽  
Flexion Extension

We present processing methods and visualization techniques for accurately characterizing and interpreting kinematical data of flexion–extension motion of the knee joint based on helical axes. We make use of the Lie group of rigid body motions and particularly its Lie algebra for a natural representation of motion sequences. This allows to analyze and compute the finite helical axis (FHA) and instantaneous helical axis (IHA) in a unified way without redundant degrees of freedom or singularities. A polynomial fitting based on Legendre polynomials within the Lie algebra is applied to provide a smooth description of a given discrete knee motion sequence which is essential for obtaining stable instantaneous helical axes for further analysis. Moreover, this allows for an efficient overall similarity comparison across several motion sequences in order to differentiate among several cases. Our approach combines a specifically designed patient-specific three-dimensional visualization basing on the processed helical axes information and incorporating computed tomography (CT) scans for an intuitive interpretation of the axes and their geometrical relation with respect to the knee joint anatomy. In addition, in the context of the study of diseases affecting the musculoskeletal articulation, we propose to integrate the above tools into a multiscale framework for exploring related data sets distributed across multiple spatial scales. We demonstrate the utility of our methods, exemplarily processing a collection of motion sequences acquired from experimental data involving several surgery techniques. Our approach enables an accurate analysis, visualization and comparison of knee joint articulation, contributing to the evaluation and diagnosis in medical applications.

Compact Two Degrees-of-Freedom External Fixator System for Correction of Persistent Clubfoot Deformity

2019 ◽  
Vol 13 (2) ◽  
Author(s):  
Ying Ying Wu ◽  
Anton Plakseychuk ◽  
Kenji Shimada
Keyword(s):  
External Fixator ◽  
Degrees Of Freedom ◽  
Soft Tissues ◽  
Three Dimensional ◽  
Deformity Correction ◽  
Current Method ◽  
Tissue Growth ◽  
Learning Curves ◽  
Patient Specific ◽  
Two Degrees Of Freedom

Bone deformities are often complex three-dimensional (3D) deformities, and correcting them is difficult. To correct persistent clubfoot deformity in adolescents or adults, an external fixator is sometimes used to encourage tissue growth and preserve healthy tissues. However, it is difficult to set up, resulting in long surgeries and steep learning curves for surgeons. It is also bulky and obstructs patient mobility. In this paper, we introduce a new approach of defining clubfoot deformity correction as a six degrees-of-freedom (6DOF) correction, and then reducing it to just two degrees-of-freedom (2DOF) using the axis-angle representation. Therefore, only two physical trajectory joints are needed, which in turn enables a more compact fixator design. A computer planner was developed to minimize the bulk of the external fixator, and to optimize the distraction schedule to avoid overstretching the soft tissues. This reduces the learning curve for surgeons and shortens surgery time. To validate the system, a patient-specific clubfoot simulator was developed, and four experiments were performed on the clubfoot simulator. The accuracy of midfoot correction was 11 mm and 3.5 deg without loading, and 41 mm and 11.7 deg with loading. While the external fixator has to be more rigid to overcome resistance against correction, the surgical system itself was able to achieve accurate correction in less than 2 h. This is an improvement from the current method, which takes 2.5–4.5 h.

Multibody Analysis and Control of a Full-Wrist Exoskeleton for Tremor Alleviation

2020 ◽  
Vol 142 (12) ◽  
Author(s):  
Jiamin Wang ◽  
Oumar R. Barry
Keyword(s):  
Degrees Of Freedom ◽  
Controller Design ◽  
Wrist Joint ◽  
Three Dimensional ◽  
Design Parameters ◽  
Light Power ◽  
Multibody Modeling ◽  
Flexion Extension ◽  
Reliable Performance ◽  
Rotational Joint

Abstract Uncontrollable shaking in the human wrist, caused by pathological tremor, can significantly undermine the power and accuracy in object manipulation. In this paper, the design of a tremor alleviating wrist exoskeleton (TAWE) is introduced. Unlike the works in the literature that only consider the flexion/extension (FE) motion, in this paper, we model the wrist joint as a constrained three-dimensional (3D) rotational joint accounting for the coupled FE and radial/ulnar deviation (RUD) motions. Hence TAWE, which features a six degrees-of-freedom (DOF) rigid linkage structure, aims to accurately monitor, suppress tremors, and provide light-power augmentation in both FE and RUD wrist motions. The presented study focuses on providing a fundamental understanding of the feasibility of TAWE through theoretical analyses. The analytical multibody modeling of the forearm–TAWE assembly provides insight into the necessary conditions for control, which indicates that reliable control conditions in the desired workspace can be acquired by tuning the design parameters. Nonlinear regressions are then implemented to identify the information that is crucial to the controller design from the unknown wrist kinematics. The proposed analytical model is validated numerically with V-REP and the result shows good agreement. Simulations also demonstrate the reliable performance of TAWE under controllers designed for tremor suppression and movement assistance.

scholarly journals Three-Dimensional Printed Molds for Image-Guided Surgical Biopsies: An Open Source Computational Platform

2020 ◽  
pp. 736-748
Author(s):  
Mireia Crispin-Ortuzar ◽  
Marcel Gehrung ◽  
Stephan Ursprung ◽  
Andrew B. Gill ◽  
Anne Y. Warren ◽  
...  
Keyword(s):  
Open Source ◽  
Tumor Heterogeneity ◽  
Spatial Scales ◽  
Three Dimensional ◽  
Patient Specific ◽  
Sampling Location ◽  
Precision Oncology ◽  
Similarity Coefficients ◽  
Tissue Samples ◽  
Manual Intervention

PURPOSE Spatial heterogeneity of tumors is a major challenge in precision oncology. The relationship between molecular and imaging heterogeneity is still poorly understood because it relies on the accurate coregistration of medical images and tissue biopsies. Tumor molds can guide the localization of biopsies, but their creation is time consuming, technologically challenging, and difficult to interface with routine clinical practice. These hurdles have so far hindered the progress in the area of multiscale integration of tumor heterogeneity data. METHODS We have developed an open-source computational framework to automatically produce patient-specific 3-dimensional–printed molds that can be used in the clinical setting. Our approach achieves accurate coregistration of sampling location between tissue and imaging, and integrates seamlessly with clinical, imaging, and pathology workflows. RESULTS We applied our framework to patients with renal cancer undergoing radical nephrectomy. We created personalized molds for 6 patients, obtaining Dice similarity coefficients between imaging and tissue sections ranging from 0.86 to 0.96 for tumor regions and between 0.70 and 0.76 for healthy kidneys. The framework required minimal manual intervention, producing the final mold design in just minutes, while automatically taking into account clinical considerations such as a preference for specific cutting planes. CONCLUSION Our work provides a robust and automated interface between imaging and tissue samples, enabling the development of clinical studies to probe tumor heterogeneity on multiple spatial scales.

A Three-Dimensional Dynamic Finite Element Model of the Prosthetic Knee Joint: Simulation of Joint Laxity and Kinematics

2005 ◽  
Vol 219 (6) ◽  
pp. 415-424 ◽  
Author(s):  
M Barink ◽  
A van Kampen ◽  
M de Waal Malefijt ◽  
N Verdonschot
Keyword(s):  
Finite Element ◽  
Knee Joint ◽  
Finite Element Model ◽  
Mathematical Formulation ◽  
Three Dimensional ◽  
Element Model ◽  
Joint Kinematics ◽  
Published Data ◽  
Dynamic Finite Element ◽  
Flexion Extension

For testing purposes of prostheses at a preclinical stage, it is very valuable to have a generic modelling tool, which can be used to optimize implant features and to avoid poor designs being launched on to the market. The modelling tool should be fast, efficient, and multipurpose in nature; a finite element model is well suited to the purpose. The question posed in this study was whether it was possible to develop a mathematically fast and stable dynamic finite element model of a knee joint after total knee arthroplasty that would predict data comparable with published data in terms of (a) laxities and ligament behaviour, and (b) joint kinematics. The soft tissue structures were modelled using a relatively simple, but very stable, composite model consisting of a band reinforced with fibres. Ligament recruitment and balancing was tested with laxity simulations. The tibial and patellar kinematics were simulated during flexion-extension. An implicit mathematical formulation was used. Joint kinematics, joint laxities, and ligament recruitment patterns were predicted realistically. The kinematics were very reproducible and stable during consecutive flexion-extension cycles. Hence, the model is suitable for the evaluation of prosthesis design, prosthesis alignment, ligament behaviour, and surgical parameters with respect to the biomechanical behaviour of the knee.

Three dimensional patient-specific collagen architecture modulates cartilage responses in the knee joint during gait

2015 ◽  
Vol 19 (11) ◽  
pp. 1225-1240 ◽  
Author(s):  
Lasse P. Räsänen ◽  
Mika E. Mononen ◽  
Eveliina Lammentausta ◽  
Miika T. Nieminen ◽  
Jukka S. Jurvelin ◽  
...  
Keyword(s):  
Knee Joint ◽  
Three Dimensional ◽  
Patient Specific

Reliability and Accuracy in Three-Dimensional Gait Analysis: A Comparison of Two Lower Body Protocols

2013 ◽  
Vol 29 (1) ◽  
pp. 105-111 ◽  
Author(s):  
Felix Stief ◽  
Harald Böhm ◽  
Katja Michel ◽  
Ansgar Schwirtz ◽  
Leonhard Döderlein
Keyword(s):  
Knee Joint ◽  
Gait Analysis ◽  
Three Dimensional ◽  
Frontal Plane ◽  
Transverse Plane ◽  
Lower Body ◽  
Landmark Identification ◽  
Gait Parameters ◽  
Custom Made ◽  
Flexion Extension

The standard Plug-in-Gait (PiG) protocol used in three-dimensional gait analysis is prone to errors arising from inconsistent anatomical landmark identification and knee axis malalignment. The purpose of this study was to estimate the reliability and accuracy of a custom made lower body protocol (MA) compared with the PiG protocol. Twenty-fve subjects volunteered to evaluate the intertrial reliability. In addition, intersession reliability was examined in 10 participants. An indirect indicator of accuracy according to the knee varus/valgus and flexion/extension range of motion (ROM) was used. Regarding frontal plane knee angles and moments as well as transverse plane motions in the knee and hip joint, the intersession errors were lower for the MA compared with the standard approach. In reference to the knee joint angle cross-talk, the MA produced 4.7° more knee flexion/extension ROM and resulted in 6.5° less knee varus/valgus ROM in the frontal plane. Therefore, the MA tested in this study produced a more accurate and reliable knee joint axis compared with the PiG protocol. These results are especially important for measuring frontal and transverse plane gait parameters.

scholarly journals Automatic Modeling of Knee-Joint Motion For The Virtual Reality Dynamic Anatomy (VRDA) Tool

2000 ◽  
Vol 9 (3) ◽  
pp. 223-235 ◽  
Author(s):  
Yohan Baillot ◽  
Jannick P. Rolland ◽  
Kuo-Chi Lin ◽  
Donna L. Wright
Keyword(s):  
Virtual Reality ◽  
Knee Joint ◽  
Imaging Modality ◽  
Patient Characteristics ◽  
Human Anatomy ◽  
Patient Specific ◽  
Joint Motion ◽  
Automatic Modeling ◽  
Flexion Extension ◽  
Knee Joint Motion

This paper presents a method and algorithms for automatic modeling of anatomical joint motion. The method relies on collision detection to achieve stable positions and orientations of the knee joint by evaluating the relative motion of the tibia with respect to the femur (for example, flexion-extension). The stable positions then become the basis for a look-up table employed in the animation of the joint. The strength of this method lies in its robustness to animate any normal anatomical joint. It is also expandable to other anatomical joints given a set of kinematic constraints for the joint type as well as a high-resolution, static, 3-D model of the joint. The demonstration could be patient specific if a person's real anatomical data could be obtained from a medical imaging modality such as computed tomography or magnetic resonance imaging. Otherwise, the demonstration requires the scaling of a generic joint based on patient characteristics. Compared with current teaching strategies, this Virtual Reality Dynamic Anatomy (VRDA) tool aims to greatly enhance students' understanding of 3-D human anatomy and joint motions. A preliminary demonstration of the optical superimposition of a generic knee joint on a leg model is shown.

scholarly journals Generalized spinning particles on $${\mathcal {S}}^2$$ in accord with the Bianchi classification

2021 ◽  
Vol 81 (3) ◽  
Author(s):  
Anton Galajinsky
Keyword(s):  
External Field ◽  
Lie Algebra ◽  
Lie Algebras ◽  
Degrees Of Freedom ◽  
Scalar Potential ◽  
Three Dimensional ◽  
Dirac Monopole ◽  
Spinning Particles ◽  
Group Manifold ◽  
Internal Degrees Of Freedom

AbstractMotivated by recent studies of superconformal mechanics extended by spin degrees of freedom, we construct minimally superintegrable models of generalized spinning particles on $${\mathcal {S}}^2$$ S 2 , the internal degrees of freedom of which are represented by a 3-vector obeying the structure relations of a three-dimensional real Lie algebra. Extensions involving an external field of the Dirac monopole, or the motion on the group manifold of SU(2), or a scalar potential giving rise to two quadratic constants of the motion are discussed. A procedure how to build similar models, which rely upon real Lie algebras with dimensions $$d=4,5,6$$ d = 4 , 5 , 6 , is elucidated.

Optimal Combination of Minimum Degrees of Freedom to be Actuated in the Lower Limbs to Facilitate Arm-Free Paraplegic Standing

2007 ◽  
Vol 129 (6) ◽  
pp. 838-847 ◽  
Author(s):  
Joon-young Kim ◽  
James K. Mills ◽  
Albert H. Vette ◽  
Milos R. Popovic
Keyword(s):  
Lower Limb ◽  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Optimal Combination ◽  
Lower Limbs ◽  
Free Standing ◽  
Joint Torques ◽  
Flexion Extension ◽  
Hip Abduction ◽  
The Individual

Arm-free paraplegic standing via functional electrical stimulation (FES) has drawn much attention in the biomechanical field as it might allow a paraplegic to stand and simultaneously use both arms to perform daily activities. However, current FES systems for standing require that the individual actively regulates balance using one or both arms, thus limiting the practical use of these systems. The purpose of the present study was to show that actuating only six out of 12 degrees of freedom (12-DOFs) in the lower limbs to allow paraplegics to stand freely is theoretically feasible with respect to multibody stability and physiological torque limitations of the lower limb DOF. Specifically, the goal was to determine the optimal combination of the minimum DOF that can be realistically actuated using FES while ensuring stability and able-bodied kinematics during perturbed arm-free standing. The human body was represented by a three-dimensional dynamics model with 12-DOFs in the lower limbs. Nakamura’s method (Nakamura, Y., and Ghodoussi, U., 1989, “Dynamics Computation of Closed-Link Robot Mechanisms With Nonredundant and Redundant Actuators,” IEEE Trans. Rob. Autom., 5(3), pp. 294–302) was applied to estimate the joint torques of the system using experimental motion data from four healthy subjects. The torques were estimated by applying our previous finding that only 6 (6-DOFs) out of 12-DOFs in the lower limbs need to be actuated to facilitate stable standing. Furthermore, it was shown that six cases of 6-DOFs exist, which facilitate stable standing. In order to characterize each of these cases in terms of the torque generation patterns and to identify a potential optimal 6-DOF combination, the joint torques during perturbations in eight different directions were estimated for all six cases of 6-DOFs. The results suggest that the actuation of both ankle flexion∕extension, both knee flexion∕extension, one hip flexion∕extension, and one hip abduction∕adduction DOF will result in the minimum torque requirements to regulate balance during perturbed standing. To facilitate unsupported FES-assisted standing, it is sufficient to actuate only 6-DOFs. An optimal combination of 6-DOFs exists, for which this system can generate able-bodied kinematics while requiring lower limb joint torques that are producible using contemporary FES technology. These findings suggest that FES-assisted arm-free standing of paraplegics is theoretically feasible, even when limited by the fact that muscles actuating specific DOFs are often denervated or difficult to access.

Shoulder Proprioception Device (S.P.D.): A Novel Design for Measuring Shoulder Joint Proprioception

2019 ◽  
Author(s):  
Jeremy R. Schnipke ◽  
Thomas G. Rounds ◽  
Jacob P. Sroka ◽  
Zachary B. Lowe ◽  
Gregory M. Freisinger ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Cost Effective ◽  
Feedback Mechanism ◽  
Shoulder Injuries ◽  
Data Logger ◽  
Effective Manner ◽  
Flexion Extension ◽  
Procedural Time ◽  
The Military

Abstract Shoulder injuries are a serious and costly issue, particularly in physically intensive professions like athletics and the military. Previous data indicates a dangerous feedback mechanism between reduced shoulder proprioception due to previous injury and higher probability of re-injury due to reduced proprioception. It is therefore important for organizations to possess a device that can accurately and efficiently evaluate and track an individual’s shoulder proprioception, especially following injury. Existing technologies that fill this role are generally impractical or do not quantify proprioception to the necessary levels of accuracy. The Shoulder Proprioception Device (SPD) therefore strives to measure and quantify three-dimensional shoulder proprioception in a highly accurate, user-friendly, and cost-effective manner. This device employs two Inertial Measurement Units (IMUs) with nine degrees-of-freedom attached to the lateral and frontal sides of the upper arm. These sensors are connected to a microcontroller board with a touch screen and datalogger. The screen displays the shoulder angles in real-time and allows the user to store discrete angle positions for further analysis through the data-logger. The system is compact (390 cubic centimeter volume), light (0.34 kilograms), and cost effective ($179 per unit). This device is capable of measuring, in a total procedural time of seven minutes, shoulder proprioception within two degrees of accuracy along the three anatomical planes of motion: sagittal flexion/extension, frontal abduction/adduction, and transverse abduction/adduction. This device is able to both aid upper extremity research and provide data to those making return to duty decisions following injury.

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