Effect of marker cluster design on the accuracy of human movement analysis using stereophotogrammetry

Evaluation of lower limb and pelvic marker placement precision among different evaluators and its impact on gait kinematics computed with the Conventional Gait Model

BACKGROUND

Gait analysis relies on the accurate and precise identification of anatomical landmarks to provide reliable and reproducible data. More specifically, the precision of marker placement among repeated measurements is responsible for increased variability in the output gait data.

RESEARCH QUESTION

The objective of this study was to quantify the precision of marker placement on the lower limbs by a test-retest procedure and to investigate its propagation to kinematic data.

METHODS

The protocol was tested on a cohort of eight asymptomatic adults involving four evaluators, with different levels of experience. Each evaluator performed, three repeated marker placements for each participant. The standard deviation was used to calculate the precision of the marker placement, the precision of the orientation of the anatomical (segment) coordinate systems, and the precision of the lower limb kinematics. In addition, one-way ANOVA was used to compare the intra-evaluator marker placement precision and kinematic precisions among the different levels of the evaluator's experience. Finally, a Pearson correlation between marker placement precision and kinematic precision was analyzed.

RESULTS

Results have shown a precision of skin markers within 10 mm and 12 mm for intra-evaluator and inter-evaluator, respectively. Analysis of kinematic data showed good to moderate reliability for all parameters apart from hip and knee rotation that demonstrated poor intra- and inter-evaluator precision. Inter-trial variability was observed reduced than intra- and inter-evaluator variability. Moreover, experience had a positive impact on kinematic reliability since evaluators with higher experience showed a statistically significant increase in precision for most kinematic parameters. However, no correlation was observed between marker placement precision and kinematic precision which indicates that an error in the placement of one specific marker can be compensated or enhanced, in a non-linear way, by an error in the placement of other markers.

Effect of non-specific neck pain on the path of the instantaneous axis of rotation of the neck during its flexion-extension movement

Non-specific neck pain is a common musculoskeletal disorder with a high prevalence and involves impaired joint movement pattern. Therefore, this study aimed to compare the trajectory of the instantaneous axis of rotation(IAR) in flexion-extension movements of the neck between people with and without nonspecific neck pain, using functional data analysis techniques. Furthermore, possible relationships between neck kinematics and perceived pain and disability were explored. Seventy-three volunteers participated in this cross-sectional study. They were allocated in a non-specific pain group (PG, n = 28) and a control group (CG, n = 45). A cyclic flexion-extension movement was assessed by a video photogrammetry system and numerical and functional variables were computed to analyze IAR trajectory during movement. Moreover, to explore possible relationships of these variables with pain and neck disability, a visual analogue scale (VAS) and the neck disability index (NDI) were used. The instantaneous axis of rotation trajectory during the flexion-extension cyclic movement described a path like Greek letter rho both in the CG and the PG, but this trajectory was shorter and displaced upward in the PG, compared to the CG. A reduction of the displacement range and a rise in the vertical position of the IAR were related to VAS and NDI scores. Non-specific neck pain is associated with a higher location of the instantaneous axis of rotation and a decrease in length of the path traveled during the flexion-extension movement. This study contributes to a better description of neck movement in people with non-specific neck pain, which would help to plan an individualized treatment.

Comparison between Helical Axis and SARA Approaches for the Estimation of Functional Joint Axes on Multi-Body Modeling Data

Functional methods usually allow for a flexible and accurate representation of joint kinematics and are increasingly implemented both for clinical and biomechanics research purposes. This paper presents a quantitative comparison between two widely adopted methods for functional axis estimation, that is, the helical axis theory and the symmetrical axis of rotation approach (SARA). To this purpose, a multi-body model was developed to simulate the lower limb of a subject. This model was designed to reproduce different motion patterns, that is, by selecting the active degrees of freedom of the simulated ankle joint. Thanks to virtual markers attached to each segment, the multi-body model was used to generate simulated motion capture data that were then analyzed by instantaneous helical axes and SARA algorithms. To achieve a synthetic representation of joint kinematics, a mean helical axis and an average SARA functional axis were estimated, along with dispersion parameters and rms distance data that were used to quantitatively assess the performance of each method. The sensitivity of each algorithm to different combinations of range and speed of motion, scattering of marker clusters, sampling rate, and additive noise on markers’ trajectories, was finally evaluated.

A methodology for the customization of hinged ankle-foot orthoses based on in vivo helical axis calculation with 3D printed rigid shells

This study aims to develop techniques for ankle joint kinematics analysis using motion capture based on stereophotogrammetry. The scope is to design marker attachments on the skin for a most reliable identification of the instantaneous helical axis, to be targeted for the fabrication of customized hinged ankle-foot orthoses. These attachments should limit the effects of the experimental artifacts, in particular the soft-tissue motion artifact, which affect largely the accuracy of any in vivo ankle kinematics analysis. Motion analyses were carried out on two healthy subjects wearing customized rigid shells that were designed through 3D scans of the subjects' lower limbs and fabricated by additive manufacturing. Starting from stereophotogrammetry data collected during walking and dorsi-plantarflexion motor tasks, the instantaneous and mean helical axes of ankle joint were calculated. The customized shells matched accurately the anatomy of the subjects and allowed for the definition of rigid marker clusters that improved the accuracy of in vivo kinematic analyses. The proposed methodology was able to differentiate between subjects and between the motor tasks analyzed. The observed position and dispersion of the axes were consistent with those reported in the literature. This methodology represents an effective tool for supporting the customization of hinged ankle-foot orthoses or other devices interacting with human joints functionality.

ICR in human cadaveric specimens: An essential parameter to consider in a new lumbar disc prosthesis design

STUDY DESIGN

Biomechanical study in cadaveric specimens.

BACKGROUND

The commercially available lumbar disc prostheses do not reproduce the intact disc's Instantaneous centre of Rotation (ICR), thus inducing an overload on adjacent anatomical structures, promoting secondary degeneration.

AIM

To examine biomechanical testing of cadaveric lumbar spine specimens in order to evaluate and define the ICR of intact lumbar discs.

MATERIAL AND METHODS

Twelve cold preserved fresh human cadaveric lumbosacral spine specimens were subjected to computerized tomography (CT), magnetic resonance imaging (MRI) and biomechanical testing. Kinematic studies were performed to analyse range of movements in order to determine ICR.

RESULTS

Flexoextension and lateral bending tests showed a positive linear correlation between the angle rotated and the displacement of the ICR in different axes.

DISCUSSION

ICR has not been taken into account in any of the available literature regarding lumbar disc prosthesis. Considering our results, neither the actual ball-and-socket nor the withdrawn elastomeric nucleus models fit the biomechanics of the lumbar spine, which could at least in part explain the failure rates of the implants in terms of postoperative failed back syndrome (low back pain). It is reasonable to consider then that an implant should also adapt the equations of the movement of the intact ICR of the joint to the post-surgical ICR.

CONCLUSIONS

This is the first cadaveric study on the ICR of the human lumbar spine. We have shown that it is feasible to calculate and consider this parameter in order to design future prosthesis with improved clinical and biomechanical characteristics.

Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods

This paper presents an efficient algorithm for the reconfiguration of a parallel kinematic manipulator with four degrees of freedom. The reconfiguration of the parallel manipulator is posed as a nonlinear optimization problem where the design variables correspond to the anchoring points of the limbs of the robot on the fixed platform. The penalty function minimizes the forces applied by the actuators during a specific trajectory. Some constraints are imposed to avoid forward singularities and guarantee the feasibility of the active generalized coordinates for a certain trajectory. The results are compared with different optimization approaches with the aim of avoiding getting trapped into a local minimum and undergoing forward singularities. The comparison covers evolutionary algorithms, heuristics optimizers, multistrategy algorithms, and gradient-based optimizers. The proposed methodology has been successfully tested on an actual parallel robot for different trajectories.

Paths of the cervical instantaneous axis of rotation during active movements-patterns and reliability

The instantaneous helical axis (IHA) is a characteristic of neck movement that is very sensitive to changes in coordination and that has potential in the assessment of functional alterations. For its application in the clinical setting, normative patterns must be available, and its reliability must be established. The purpose of this work is to describe the continuous paths of the IHA during cyclic movements of flexion-extension (FE), lateral bending (LB), and axial rotation (AR) and to quantify their reliability. Fifteen healthy volunteers participated in the study; two repetitions were made on the same day (by different operators) and over an 8-day interval (by the same operator) to evaluate the inter-operator and inter-session reliability, respectively. The paths described by the IHA suggest a sequential movement of the vertebrae in the FE movement, with a large vertical displacement (mean, 10 cm). The IHA displacement in LB and AR movements are smaller. The paths described by the IHAs have a very high reliability for FE movement, although it is somewhat lower for LB and RA movements. The standard error of measurement (SEM) is less than 0.5 cm. These results show that the paths of the IHA are reliable enough to evaluate changes in the coordination of intervertebral movement. Graphical abstract A video photogrammetry system is used to record the cyclic movements of the neck, from which the continuous trajectories of the associated instantaneous helical axis (IHA) are calculated. We have analyzed the movements of flexion-extension (FE), lateral flexion (LB), and axial rotation (AR) for a sample of 15 healthy subjects. The measurements have been repeated with two different operators (in the same session) and in two separate sessions (same operator). IHA displacement patterns have been obtained in each movement, and the reliability of the measurement of such IHA trajectories has been estimated.

Dynamic thoracohumeral kinematics are dependent upon the etiology of the shoulder injury

Obtaining kinematic patterns that depend on the shoulder injury may be important when planning rehabilitation. The main goal of this study is to explore whether the kinematic patterns of continuous and repetitive shoulder elevation motions are different according to the type of shoulder injury in question, specifically tendinopathy or rotator cuff tear, and to analyze the influence of the load handled during its assessment. For this purpose, 19 individuals with tendinopathy and 9 with rotator cuff tear performed a repetitive scaption movement that was assessed with stereophotogrammetry. Furthermore, static range of motion (ROM) and isometric strength were evaluated with a goniometer and a dynamometer, respectively. Dynamic measurements of maximum elevation (Emax), variablility of the maximum angle (VMA), maximum angular velocity (Velmax), and time to maximum velocity (tmaxvel) were found to be significantly different between the tendinopathy group (TG) and the rotator cuff tear group (RTCG). No differences were found in the ROM assessed with goniometry and the isometric strength. The effect of increasing the load placed in the hand during the scaption movement led to significant differences in Emax, VMA, tmaxvel and repeatability. Therefore, only the dynamic variables showed sufficient capability of detecting differences in functional performance associated with structural shoulder injury. The differences observed in the kinematic variables between patients with tendinopathy and rotator cuff tear seem to be related to alterations in thoracohumeral rhythm and neuromuscular control. Kinematic analysis may contribute to a better understanding of the functional impact of shoulder injuries, which would help in the assessment and treatment of shoulder pain.

Dynamic Parameter Identification of Subject-Specific Body Segment Parameters Using Robotics Formalism: Case Study Head Complex

Accurate knowledge of body segment inertia parameters (BSIP) improves the assessment of dynamic analysis based on biomechanical models, which is of paramount importance in fields such as sport activities or impact crash test. Early approaches for BSIP identification rely on the experiments conducted on cadavers or through imaging techniques conducted on living subjects. Recent approaches for BSIP identification rely on inverse dynamic modeling. However, most of the approaches are focused on the entire body, and verification of BSIP for dynamic analysis for distal segment or chain of segments, which has proven to be of significant importance in impact test studies, is rarely established. Previous studies have suggested that BSIP should be obtained by using subject-specific identification techniques. To this end, our paper develops a novel approach for estimating subject-specific BSIP based on static and dynamics identification models (SIM, DIM). We test the validity of SIM and DIM by comparing the results using parameters obtained from a regression model proposed by De Leva (1996, “Adjustments to Zatsiorsky-Seluyanov's Segment Inertia Parameters,” J. Biomech., 29(9), pp. 1223–1230). Both SIM and DIM are developed considering robotics formalism. First, the static model allows the mass and center of gravity (COG) to be estimated. Second, the results from the static model are included in the dynamics equation allowing us to estimate the moment of inertia (MOI). As a case study, we applied the approach to evaluate the dynamics modeling of the head complex. Findings provide some insight into the validity not only of the proposed method but also of the application proposed by De Leva (1996, “Adjustments to Zatsiorsky-Seluyanov's Segment Inertia Parameters,” J. Biomech., 29(9), pp. 1223–1230) for dynamic modeling of body segments.

Tracking systems for virtual rehabilitation: objective performance vs. subjective experience. A practical scenario

Motion tracking systems are commonly used in virtual reality-based interventions to detect movements in the real world and transfer them to the virtual environment. There are different tracking solutions based on different physical principles, which mainly define their performance parameters. However, special requirements have to be considered for rehabilitation purposes. This paper studies and compares the accuracy and jitter of three tracking solutions (optical, electromagnetic, and skeleton tracking) in a practical scenario and analyzes the subjective perceptions of 19 healthy subjects, 22 stroke survivors, and 14 physical therapists. The optical tracking system provided the best accuracy (1.074 ± 0.417 cm) while the electromagnetic device provided the most inaccurate results (11.027 ± 2.364 cm). However, this tracking solution provided the best jitter values (0.324 ± 0.093 cm), in contrast to the skeleton tracking, which had the worst results (1.522 ± 0.858 cm). Healthy individuals and professionals preferred the skeleton tracking solution rather than the optical and electromagnetic solution (in that order). Individuals with stroke chose the optical solution over the other options. Our results show that subjective perceptions and preferences are far from being constant among different populations, thus suggesting that these considerations, together with the performance parameters, should be also taken into account when designing a rehabilitation system.

Model of Soft Tissue Artifact Propagation to Joint Angles in Human Movement Analysis

This work describes the kinematic laws that govern the transmission of soft tissue artifact errors to kinematic variables in the analysis of human movements. Artifacts are described as relative translations and rotations of the marker cluster over the bone, and a set of explicit expressions is defined to account for the effect of that relative motion on different representations of rotations: the rotation around the screw axis, or rotation vector, and three Euler angle sequences (XY′Z, YX′Y″, ZX′Y″). Although the error transmission is nonlinear in all cases, the effect of artifacts is greater on Euler sequences than on the rotation vector. Specifically, there are crosstalk effects in Euler sequences that amplify the errors near singular configurations. This fact is an additional source of variability in studies that describe artifacts by comparing the Euler angles obtained from skin markers, with the angles of an artifact-free gold standard. The transmission of errors to rotation vector coordinates is less variable or dependent on the type of motion. This model has been tested in an experiment with a deformable mechanical model with a spherical joint.

Sensitivity, reliability and accuracy of the instant center of rotation calculation in the cervical spine during in vivo dynamic flexion-extension

The instant center of rotation (ICR) has been proposed as an alternative to range of motion (ROM) for evaluating the quality, rather than the quantity, of cervical spine movement. The purpose of the present study was to assess the sensitivity, reliability and accuracy of cervical spine ICR path calculations obtained during dynamic in vivo movement. The reliability and sensitivity of in vivo cervical spine ICR calculations were assessed by evaluating the effects of movement direction (flexion versus extension), rotation step size, filter frequency, and motion tracking error. The accuracy of the ICR path calculations was assessed through a simulation experiment that replicated in vivo movement of cervical vertebrae. The in vivo assessment included 20 asymptomatic subjects who performed continuous head flexion-extension movements while biplane radiographs were collected at 30 frames per second. In vivo motion of C2 through C7 cervical vertebrae was tracked with sub-millimeter accuracy using a volumetric model-based tracking technique. The finite helical axis method was used to determine ICRs between each pair of adjacent vertebra. The in vivo results indicate ICR path is not different during the flexion movement and the extension movement. In vivo, the path of the ICR can reliably be characterized within 0.5mm in the SI and 1.0mm in the AP direction. The inter-subject variability in ICR location averaged ±1.2mm in the SI direction and ±2.2mm in the AP direction. The computational experiment estimated the in vivo accuracy in ICR location was between 1.1mm and 3.1mm.

Reliability and validity of a new objective tool for low back pain functional assessment

STUDY DESIGN

Classification and functional assessment model for nonspecific low back pain (LBP) patients and controls on the basis of kinematic analysis parameters.

OBJECTIVE

Develop a logistic regression model using kinematic analysis variables to (1) discriminate between LBP patients and controls and (2) obtain objective parameters for LBP functional assessment.

SUMMARY OF BACKGROUND DATA

Functional assessment of spinal disorders has been carried out traditionally by means of subjective scales. Objective functional techniques have been developed, which usually involve the application of external loads or the analysis of highly standardized trunk flexion-extension maneuvers. Few studies have used everyday activities such as sit-to-stand or lifting an object from the ground. They have shown that the motion patterns of LBP patients differ from those of healthy subjects. Nevertheless, very few studies have tried to correlate objective findings to the results of subjective scales, and no previous study has developed a LBP classification and functional assessment model on the basis of kinematic analysis of everyday activities.

METHODS

Sixteen controls and 39 LBP patients performed a sit-to-stand task, and lifted three different weights from a standing position. The vertical forces exerted and the relative positions of the lower limb and the cervical, thoracic, lumbar, and sacroiliac regions were recorded. Reliability was determined from repetitions of the tests performed by the control group. Binary logistic regression analyses were computed. The results of the selected regression equation were correlated to the Oswestry Disability Index scale results, to check the validity of the procedure for the measurement of functional disability.

RESULTS

Reliability of the parameters was good. The selected regression model used two variables, and correctly classified 97.3% of the patients. High correlations were found between the results of this regression equation and the Oswestry Disability Index scale.

CONCLUSION

It is possible to distinguish LBP patients from healthy subjects by means of the biomechanical analysis of everyday tasks. This kind of analysis can produce objective and reliable indexes about the patients' degree of functional impairment.

Neck motion patterns in whiplash-associated disorders: quantifying variability and spontaneity of movement

BACKGROUND

whiplash-associated disorders have usually been explored by analyzing changes in the cervical motor system function by means of static variables such as the range of motion, whereas other behavioural features such as speed, variability or smoothness of movement have aroused less interest.

METHODS

whiplash patients (n=30), control subjects (n=29) and a group of people faking the symptoms of whiplash-associated-disorders (Simulators, n=30) performed a cyclical flexion-extension movement. This movement was recorded by means of video-photogrammetry. The computed variables were: range of motion, maxima angular velocity and acceleration, and two additional variables that quantify the repeatability of a motion and its spontaneity. Two comparisons were made: Control vs. Patients and Patients vs. Simulators. At each comparison we used ANOVA to detect differences between groups and discriminant analysis to evaluate the ability of these variables to classify individuals.

FINDINGS

comparison between Controls and Patients showed significant reductions in the range of motion, and both the maximum of angular velocity and acceleration in the Patients. The most efficient discriminant model only included the range of motion and maximum angular velocity. Comparison between Patients and Simulators showed a significant reduction in all measured variables in the Simulators. The best classification model was obtained with maximum angular velocity, spontaneity and repeatability of motion.

INTERPRETATION

our results suggest that the pathological patterns differ from those of Controls in amplitude and speed of motion, but not in repeatability or spontaneity of movement. These variables are especially useful for detecting abnormal movement patterns.

Kinematics of the trunk in sitting posture: an analysis based on the instantaneous axis of rotation

This paper presents a new approach for analysing trunk kinematics in sitting posture based on the characterisation of thorax and pelvis motion by means of ranges of motion and instantaneous axes of rotation (IAR). These variables are estimated from videophotogrammetric data. An experiment was carried out in order to analyse three motions associated with the flexion-extension movement: the absolute motions of the pelvis and thorax and the relative motion between the thorax and pelvis. The results obtained suggest a sequential activation of lumbar vertebrae in the flexion-extension motion. On the other hand, the location of the pelvis IAR shows that the movement of the pelvis on the seat is not just a rolling motion but a rolling with some level of sliding. Finally, the location of the IAR in the thorax-pelvis relative motion shows a mismatch between the trunk IAR and the backrest axis of rotation in several office chairs. The proposed technique provides a new approach for the kinematic analysis of sitting posture. The results can be applied to the improvement of biomechanical models of seated posture as well as to define some design criteria of work seats based on the fit between the trunk and backrest movements.