An Optimized Image Matching Method for Determining In-Vivo TKA Kinematics with a Dual-Orthogonal Fluoroscopic Imaging System

A Rigorous 2D-3D Registration Method for a High-Speed Bi-Planar Videoradiography Imaging System

High-speed biplanar videoradiography can derive the dynamic bony translations and rotations required for joint cartilage contact mechanics to provide insights into the mechanical processes and mechanisms of joint degeneration or pathology. A key challenge is the accurate registration of 3D bone models (from MRI or CT scans) with 2D X-ray image pairs. Marker-based or model-based 2D-3D registration can be performed. The former has higher registration accuracy owing to corresponding marker pairs. The latter avoids bead implantation and uses radiograph intensity or features. A rigorous new method based on projection strategy and least-squares estimation that can be used for both methods is proposed and validated by a 3D-printed bone with implanted beads. The results show that it can achieve greater marker-based registration accuracy than the state-of-the-art RSA method. Model-based registration achieved a 3D reconstruction accuracy of 0.79 mm. Systematic offsets between detected edges in the radiographs and their actual position were observed and modeled to improve the reconstruction accuracy to 0.56 mm (tibia) and 0.64 mm (femur). This method is demonstrated on in vivo data, achieving a registration precision of 0.68 mm (tibia) and 0.60 mm (femur). The proposed method allows the determination of accurate 3D kinematic parameters that can be used to calculate joint cartilage contact mechanics.

Experimental Methods for Studying the Contact Mechanics of Joints

Biomechanics researchers often experimentally measure static or fluctuating dynamic contact forces, areas, and stresses at the interface of natural and artificial joints, including the shoulders, elbows, hips, and knees. This information helps explain joint contact mechanics, as well as mechanisms that may contribute to disease, damage, and degradation. Currently, the most common in vitro experimental technique involves a thin pressure-sensitive film inserted into the joint space; but, the film's finite thickness disturbs the joint's ordinary articulation. Similarly, the most common in vivo experimental technique uses video recording of 3D limb motion combined with dynamic analysis of a 3D link-segment model to calculate joint contact force, but this does not provide joint contact area or stress distribution. Moreover, many researchers may be unaware of older or newer alternative techniques that may be more suitable for their particular research application. Thus, this article surveys over 50 years of English-language scientific literature in order to (a) describe the basic working principles, advantages, and disadvantages of each technique, (b) examine the trends among the studies and methods, and (c) make recommendations for future directions. This article will hopefully inform biomechanics investigators about various in vitro and in vivo experimental methods for studying the contact mechanics of joints.

The Effect of Joint Line Elevation on In Vivo Knee Kinematics in Bicruciate Retaining Total Knee Arthroplasty

Prior studies have reported a negative effect on both clinical outcomes and patient-reported outcome measures (PROMS) following joint line elevation (JLE) in cruciate-retaining (CR) total knee arthroplasty (TKA) and posterior stabilized (PS) TKA designs. This experimental study was aimed to quantify the effect of JLE on in vivo knee kinematics in patients with bicruciate retaining (BCR) TKA during strenuous activities. Thirty unilateral BCR TKA patients were evaluated during single-leg deep lunge and sit-to-stand using a validated combined computer tomography and dual fluoroscopic imaging system. Correlation analysis was performed to quantify any correlations between JLE and in vivo kinematics, as well as PROMS. There was a significant negative correlation between JLE and maximum flexion angle during single-leg deep lunge (ρ = -0.34, p = 0.02), maximum varus joint angles during single-leg deep lunge (ρ = -0.37, p = 0.04), and sit-to-stand (ρ = -0.29, p = 0.05). There was a significant negative correlation between JLE and Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC) score (ρ = -0.39, p = 0.01) and knee disability and osteoarthritis outcome score physical function (KOOS-PS; ρ = -0.33, p = 0.03). The JLE that yields a significant loss in PROMS and maximum flexion angles were 2.6 and 2.3 mm, respectively. There was a linear negative correlation of JLE with both in vivo knee kinematics and PROMS, with changes in JLE of greater than 2.6 and 2.3 mm, leading to a clinically significant loss in PROMS and maximum flexion angles, respectively, suggesting an increased need to improve surgical precision to optimize patient outcomes following BCR TKA.

Asymmetrical tibial polyethylene geometry-cruciate retaining total knee arthroplasty does not fully restore in-vivo articular contact kinematics during strenuous activities

PURPOSE

A new CR TKA design with concave medial and convex lateral tibial polyethylene bearing components was introduced recently to improve functional outcomes. This study aimed to investigate in-vivo articular contact kinematics in unilateral asymmetrical tibial polyethylene geometry CR TKA patients during strenuous knee flexion activities.

METHODS

Fifteen unilateral CR TKA patients (68.4 ± 5.8 years; 6 male/9 female) were evaluated for both knees during sit-to-stand, single-leg deep lunges and step-ups using validated combined computer tomography and dual fluoroscopic imaging system. Medial and lateral condylar contact positions were quantified during weight-bearing flexion activities. The Wilcoxon signed-rank test was performed to determine if there is a significant difference in articular contact kinematics during strenuous flexion activities between CR TKA and the non-operated knees.

RESULTS

Contact excursions of the lateral condyle in CR TKAs were significantly more anteriorly located than the contralateral non-operated knee during sit-to-stand (3.7 ± 4.8 mm vs - 7.8 ± 4.3 mm) and step-ups (- 1.5 ± 3.2 mm vs - 6.3 ± 5.8 mm). Contact excursions of the lateral condyle in CR TKAs were significantly less laterally located than the contralateral non-operated knee during sit-to-stand (21.4 ± 2.8 mm vs 24.5 ± 4.7 mm) and single-leg deep lunges (22.6 ± 4.4 mm vs 26.2 ± 5.7 mm, p < 0.05). Lateral condyle posterior rollback was not fully restored in CR TKA patients during sit-to-stand (9.8 ± 6.7 mm vs 12.9 ± 8.3 mm) and step-ups (8.1 ± 4.8 mm vs 12.2 ± 6.4 mm). Lateral pivoting patterns were observed in 80%, 73% and 69% of patients during sit-to-stand, step-ups and single-leg deep lunges respectively.

CONCLUSION

Although lateral femoral rollback and lateral pivoting patterns were observed during strenuous functional daily activities, asymmetric contact kinematics still persisted in unilateral CR TKA patients. This suggests the specific investigated contemporary asymmetrical tibial polyethylene geometry CR TKA design evaluated in this study does not fully replicate healthy knee contact kinematics during strenuous functional daily activities.

LEVEL OF EVIDENCE

III.

Transfer learning from an artificial radiograph-landmark dataset for registration of the anatomic skull model to dual fluoroscopic X-ray images

Registration of 3D anatomic structures to their 2D dual fluoroscopic X-ray images is a widely used motion tracking technique. However, deep learning implementation is often impeded by a paucity of medical images and ground truths. In this study, we proposed a transfer learning strategy for 3D-to-2D registration using deep neural networks trained from an artificial dataset. Digitally reconstructed radiographs (DRRs) and radiographic skull landmarks were automatically created from craniocervical CT data of a female subject. They were used to train a residual network (ResNet) for landmark detection and a cycle generative adversarial network (GAN) to eliminate the style difference between DRRs and actual X-rays. Landmarks on the X-rays experiencing GAN style translation were detected by the ResNet, and were used in triangulation optimization for 3D-to-2D registration of the skull in actual dual-fluoroscope images (with a non-orthogonal setup, point X-ray sources, image distortions, and partially captured skull regions). The registration accuracy was evaluated in multiple scenarios of craniocervical motions. In walking, learning-based registration for the skull had angular/position errors of 3.9 ± 2.1°/4.6 ± 2.2 mm. However, the accuracy was lower during functional neck activity, due to overly small skull regions imaged on the dual fluoroscopic images at end-range positions. The methodology to strategically augment artificial training data can tackle the complicated skull registration scenario, and has potentials to extend to widespread registration scenarios.

Loss of Knee Flexion and Femoral Rollback of the Medial-Pivot and Posterior-Stabilized Total Knee Arthroplasty During Early-Stance of Walking in Chinese Patients

Background The medial-pivot (MP) prosthesis was developed to produce more physiological postoperative knee kinematics and better patient satisfaction than traditional prostheses, but outcomes are inconsistent in different studies of Caucasian patients. This study aimed to investigate the postoperative patient satisfaction and in vivo knee kinematics of the MP and posterior-stabilized (PS) prosthesis during gait activity in Chinese patients.

Methods A retrospective analysis of 12 patients was received for this study in each MP group and PS group. Patient-reported satisfaction level and Forgotten Joint Score (FJS) were evaluated with questionnaires. A dual fluoroscopic imaging system was used to investigate in vivo knee kinematics of MP and PS total knee arthroplasty (TKA) during treadmill walking at a speed of 0.4 m/s.

Results Comparable promising patient satisfaction and overall FJS (MP 60.7 ± 15.35 vs. PS 51.3 ± 17.62, p = 0.174) were found between the MP and PS groups. Peak flexion appeared at around 70% of gait cycle with values of 52.4 ± 7.4° for MP and 50.1 ± 3.6° for PS groups (no difference). Both groups maintained a stable position at the stance phase and began to translated anteriorly at toe-off with an amount of 4.5 ± 2.3 mm in the MP and 6.6 ± 2.7 mm in the PS (p = 0.08) group until late swing. The range of this external rotation motion was 5.9 ± 4.8 and 6.2 ± 4.1° (p = 0.79) for the MP and PS, respectively.

Conclusion A similar knee kinematics pattern characterized by a loss of early-stance knee flexion and femoral rollback during walking was observed in the MP and PS TKAs. Our study confirmed similar effectiveness of MP TKA compared to PS TKA in Chinese patients, while the change of knee kinematics of both implants during slow walking should be noted.

Tibiofemoral helical axis of motion during the full gait cycle measured using biplane radiography

The helical axis of motion (HAM), which describes the simultaneous multiplanar translations and rotations that occur within a joint, has been proposed as a single measure to characterize dynamic joint function. The objective of this study was to determine the tibiofemoral HAM during 5 discrete phases of gait. Thirty-nine knees from 20 healthy adults were imaged using high-speed biplane radiography during treadmill walking. The primary outcome measures were the intersection of the HAM with the sagittal plane of the femur, and the direction of the HAM. The intersection point translated an average of 12.7 ± 5.5% of femur condyle depth in the anterior-posterior direction and 28.6 ± 13.3% of femur condyle height in the proximal-distal direction during gait. The anterior/posterior and proximal/distal components of the HAM vector were greater during stance (5.6°±3.8° and 11.1°±5.0°, respectively) than during swing (2.0°±1.1° and 6.4°±3.8°, respectively) (p<0.001) reflecting greater coupled rotations during stance. No significant side-to-side differences in intersection point location or HAM orientation were found during any of the 5 phases of gait (max difference 4.1 ± 3.4% of femur condyle depth and 13.1 ± 16.7% of femur condyle height; 12.7°±12.3° proximal/distal and 4.2°±4.5° anterior/posterior direction). Loading significantly affected HAM location and orientation (p<0.001). Knowledge of healthy knee HAM and typical side-to-side differences during gait can serve as a baseline for evaluating knee motion after clinical interventions.

Adverse effects of total hip arthroplasty on the hip abductor and adductor muscle lengths and moment arms during gait

Background

Precise evaluation of the hip abductor and adductor muscles function in total hip arthroplasty (THA) patients during gait could help prevent postoperative complications and optimize the rehabilitation training program. The purpose of this study was to elucidate the effects of THA on the hip abductor and adductor muscle lengths and moment arms of in vivo patients during gait.

Methods

Ten unilateral THA patients received CT scans and dual fluoroscopic imaging for the hip kinematics during gait. The hip abductor and adductor muscle insertions were digitized on the 3D hip model for the determination of their dynamic lines of action and moment arms. Changes in the hip abductor and adductor muscle lengths and moment arms of THA patients between the implanted and non-implanted sides were quantified during gait.

Results

The adductor longus, adductor brevis, and pectineus of the implanted hips had significantly (P < 0.05) less elongation than that of the non-implanted side during the stance phase. The gluteus medius, gluteus minimus, and piriformis moment arms of the implanted side were significantly shorter. The piriformis muscle moment arm was significantly larger. In the double support phase, the adductor magnus and adductor longus moment arms of the implanted sides were significantly decreased.

Conclusions

Results suggested that the adverse effects of THA on hip stability. Development of a rehabilitation program considering the effects of THA is essential. Accurate surgical techniques may reduce the impact of THA on the peripheral muscles.

Intervertebral range of motion characteristics of normal cervical spinal segments (C0-T1) during in vivo neck motions

The in vivo intervertebral range of motion (ROM) is an important predictor for spinal disorders. While the subaxial cervical spine has been extensively studied, the motion characteristics of the occipito-atlantal (C0-1) and atlanto-axial (C1-2) cervical segments were less reported due to technical difficulties in accurate imaging of these two segments. In this study, we investigated the intervertebral ROMs of the entire cervical spine (C0-T1) during in vivo functional neck motions of asymptomatic human subjects, including maximal flexion-extension, left-right lateral bending, and left-right axial torsion, using previously validated dual fluoroscopic imaging and model registration techniques. During all neck motions, C0-1, similar to C7-T1, was substantially less mobile than other segments and always contributed less than 10% of the cervical rotations. During the axial rotation of the neck, C1-2 contributed 73.2 ± 17.3% of the cervical rotation, but each of other segments contributed less than 10% of the cervical rotation. During both lateral bending and axial torsion neck motions, regardless of primary or coupled motions, the axial torsion ROM of C1-2 was significantly greater than its lateral bending ROM (p < 0.001), whereas the opposite differences were consistently observed at subaxial segments. This study reveals that there are distinct motion patterns at upper and lower cervical segments during in vivo neck motions. The reported data could be useful for the development of new diagnosis methods of cervical pathologies and new surgical techniques that aim to restore normal cervical segmental motion.

Bi-Cruciate Retaining Total Knee Arthroplasty Does Not Restore Native Tibiofemoral Articular Contact Kinematics During Gait

Bi-cruciate retaining (BCR) total knee arthroplasty (TKA) design preserves both anterior and posterior cruciate ligaments with the potential to restore normal posterior femoral rollback and joint kinematics. Abnormal knee kinematics and "paradoxical" anterior femoral translation in conventional TKA designs have been suggested as potential causes of patient dissatisfaction. However, there is a paucity of data on the in vivo kinematics and articular contact behavior of BCR-TKA. This study aimed to investigate in vivo kinematics, articular contact position, and pivot point location of the BCR-TKA during gait. In vivo kinematics of 30 patients with unilateral BCR-TKA during treadmill walking was determined using validated dual fluoroscopic imaging tracking technique. The BCR-TKA exhibited less extension than the normal healthy knee between heel strike and 48% of gait cycle. Although the average external rotation trend observed for BCR TKA was similar to the normal healthy knee, the range of motion was not fully comparable. The lowest point of the medial condyle showed longer anteroposterior translation excursion than the lateral condyle, leading to a lateral-pivoting pattern in 60% of BCR TKA patients during stance phase. BCR-TKA demonstrated no statistical significant differences in anterior-posterior translation as well as varus rotation, when compared to normal healthy knees during the stance phase. However, sagittal plane motion and tibiofemoral articular contact characteristics including pivoting patterns were not fully restored in BCR TKA patients during gait, suggesting that BCR TKA does not restore native tibiofemoral articular contact kinematics. © 2019 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 37:1929-1937, 2019.

Stair Climbing and High Knee Flexion Activities in Bi-Cruciate Retaining Total Knee Arthroplasty: In Vivo Kinematics and Articular Contact Analysis

BACKGROUND

Bi-cruciate retaining (BCR) total knee arthroplasty (TKA) preserves both anterior and posterior cruciate ligaments with the potential to restore normal posterior femoral rollback and joint kinematics. However, there is limited information regarding articular contact behavior in the contemporary BCR TKA design during high knee flexion activities. This study aimed to investigate the articular knee contact performance in unilateral BCR TKA patients during strenuous flexion activities.

METHODS

Twenty-nine unilateral BCR TKA patients were evaluated for both knees during single deep lunges, step-ups, and sit-to-stand (STS) using a validated combined computer tomography and dual fluoroscopic imaging system. Medial and lateral condylar contact positions were quantified during weight-bearing flexion.

RESULTS

Contact excursions of the lateral condyle in BCR TKAs were significantly more anteriorly located than the contralateral non-operated knees during STS (-4.9 ± 3.1 vs -9.7 ± 4.6 mm, P < .05), single deep lunge (-5.7 ± 3.2 vs -10.0 ± 4.5 mm, P < .05), and step-ups (-4.8 ± 3.6 vs -9.1 ± 3.9 mm, P < .05). Contact points of BCR TKAs indicated reduced femoral external rotation during STS (2.1 ± 4.8° vs 7.7 ± 5.4°, P < .05), single deep lunges (1.8 ± 4.8° vs 7.0 ± 7.1°, P < .05), and step-ups (0.1 ± 4.1° vs 6.2 ± 4.9°, P < .05). Medial pivoting patterns were observed in only 59%, 56%, and 48% of the BCR TKA knees for step-ups, STS, and single deep lunge, respectively.

CONCLUSION

The contemporary BCR TKA design demonstrated asymmetric femoral rollback, medial translation, as well as lateral pivoting in about half of the patient cohort, suggesting that in vivo tibiofemoral kinematic parameters were not fully restored in BCR patients during strenuous flexion activities.

Measuring relative positions and orientations of the tibia with respect to the femur using one-channel 3D-tracked A-mode ultrasound tracking system: A cadaveric study

The purpose of this study is to investigate the technical feasibility of measuring relative positions and orientations of the tibia with respect to the femur in an in-vitro experiment by using a 3D-tracked A-mode ultrasound system and to determine its accuracy of angular and translational measurements. As A-mode ultrasound is capable of detecting bone surface through soft tissue in a non-invasive manner, the combination of a single A-mode ultrasound transducer with an optical motion tracking system provides the possibility for digitizing the 3D locations of bony points at different anatomical regions on the thigh and the shank. After measuring bony points over a large area of both the femur and tibia, the bone models of the femur and tibia that were segmented from CT or MRI images were registered to the corresponding bony points. Then the relative position of the tibia with respect to the femur could be obtained and the angular and translational components could also be measured. A cadaveric experiment was conducted to assess its accuracy compared to the reference measurement obtained by optical markers fixed to intra-cortical bone pins placed in the femur and tibia. The results showed that the ultrasound system could achieve 0.49 ± 0.83°, 0.85 ± 1.86° and 1.85 ± 2.78° (mean ± standard deviation) errors for Flexion-Extension, Adduction-Abduction and External-Internal rotations, respectively, and -2.22 ± 3.62 mm, -2.80 ± 2.35 mm and -1.44 ± 2.90 mm errors for Anterior-Posterior, Proximal-Distal and Lateral-Medial translations, respectively. It was concluded that this technique is feasible and facilitates the integration of arrays of A-mode ultrasound transducers with an optical motion tracking system for non-invasive dynamic tibiofemoral kinematics measurement.

A Novel Ultrasound-Based Lower Extremity Motion Tracking System

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

In vivo six-degree-of-freedom knee-joint kinematics in overground and treadmill walking following total knee arthroplasty

No data are available to describe six-degree-of-freedom (6-DOF) knee-joint kinematics for one complete cycle of overground walking following total knee arthroplasty (TKA). The aims of this study were firstly, to measure 6-DOF knee-joint kinematics and condylar motion for overground walking following TKA; and secondly, to determine whether such data differed between overground and treadmill gait when participants walked at the same speed during both tasks. A unique mobile biplane X-ray imaging system enabled accurate measurement of 6-DOF TKA knee kinematics during overground walking by simultaneously tracking and imaging the joint. The largest rotations occurred for flexion-extension and internal-external rotation whereas the largest translations were associated with joint distraction and anterior-posterior drawer. Strong associations were found between flexion-extension and adduction-abduction (R²  = 0.92), joint distraction (R²  = 1.00), and anterior-posterior translation (R²  = 0.77), providing evidence of kinematic coupling in the TKA knee. Although the measured kinematic profiles for overground walking were grossly similar to those for treadmill walking, several statistically significant differences were observed between the two conditions with respect to temporo-spatial parameters, 6-DOF knee-joint kinematics, and condylar contact locations and sliding. Thus, caution is advised when making recommendations regarding knee implant performance based on treadmill-measured knee-joint kinematic data. © 2016 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 35:1634-1643, 2017.

Error performances of a model-based biplane fluoroscopic system for tracking knee prosthesis during treadmill gait task

Roentgen stereophotogrammetry analysis technique allows an accurate measurement of knee joint prosthesis position and orientation using two X-ray images. Although this technique is used generally during static procedure, it is possible to use it with a biplane fluoroscopic system to measure the prosthesis kinematics during functional tasks (e.g., gait, squat, jump) performed in a laboratory environment. However, the performance of the system in terms of errors for the measurements and the model-based matching algorithm are not well known for dynamic tasks such as walking. The goal of this study was to estimate the static and dynamic errors of a model-based biplane fluoroscopic system for a treadmill gait task and analyze the error performance according to the speed and location of the knee joint prosthesis relative to X-ray sources. The results show a static maximum error (RMSE) of 0.13° for orientation and 0.06 mm for position for prosthesis components. The dynamic errors were different for each axis of the acquisition system and each prosthesis component. The largest dynamic error was along the vertical axis for the position (RMSE = 2.42 mm) and along the medio-lateral axis (perpendicular to movement) for the orientation (RMSE = 0.95°). As expected, the error depends on the distance between the prosthesis and the source in the acquisition system as well as the linear and angular velocity of the movement. The most accurate dynamic measure was around the centroid of the acquisition system, while kinematics measurements close to the X-rays detectors gave the worst errors.

Statistical shape modeling predicts patellar bone geometry to enable stereo-radiographic kinematic tracking

Complications in the patellofemoral (PF) joint of patients with total knee replacements include patellar subluxation and dislocation, and remain a cause for revision. Kinematic measurements to assess these complications and evaluate implant designs require the accuracy of dynamic stereo-radiographic systems with 3D-2D registration techniques. While tibiofemoral kinematics are typically derived by tracking metallic implants, PF kinematic measurements are difficult as the patellar implant is radiotransparent and a representation of the resected patella bone requires either pre-surgical imaging and precise implant placement or post-surgical imaging. Statistical shape models (SSMs), used to characterize anatomic variation, provide an alternative means to obtain the representation of the resected patella for use in kinematic tracking. Using a virtual platform of a stereo-radiographic system, the objectives of this study were to evaluate the ability of an SSM to predict subject-specific 3D implanted patellar geometries from simulated 2D image profiles, and to formulate an effective data collection methodology for PF kinematics by considering accuracy for a variety of patient pose scenarios. An SSM of the patella was developed for 50 subjects and a leave-one-out approach compared SSM-predicted and actual geometries; average 3D errors were 0.45±0.07mm (mean±standard deviation), which is comparable to the accuracy of traditional segmentation. Further, initial imaging of the patella in five unique stereo radiographic perspectives yielded the most accurate representation. The ability to predict the remaining patellar geometry of the implanted PF joint with radiographic images and SSM, instead of CT, can reduce radiation exposure and streamline in vivo kinematic evaluations.

Does 3-Dimensional In Vivo Component Rotation Affect Clinical Outcomes in Unicompartmental Knee Arthroplasty?

BACKGROUND

Unicompartmental knee arthroplasty (UKA) is an effective treatment for single-compartment osteoarthritis. Limited studies have examined the relationship between component rotation and functional outcomes, with no existing consensus to guide "optimal" UKA component rotation. Our study aims to study the effect of 3-dimensional (3D) in vivo UKA component axial rotation on functional outcomes by determining (1) how much component axial rotation variability exists in UKA? and (2) does 3D in vivo UKA component axial rotation affect functional outcomes?

METHODS

Sixty-six UKAs from 58 consecutive patients (36 male [62.1%], age 63.7 ± 9.2 years, body mass index 28.2 ± 4.9 kg/m(2), and mean follow-up time 49.2 months) were imaged in weight-bearing standing position using biplanar radiography. We performed multiple comparisons to analyze the relationship between 3D UKA component alignment and European Quality of Life - 5 Dimensions (EQ-5D), UCLA activity score, and Knee Injury and Osteoarthritis Outcome Scores.

RESULTS

Significant improvements in EQ-5D, EQ-5D (United States adjusted), and Knee Injury and Osteoarthritis Outcome Scores (Sport/Rec) scores were noted postoperatively. However, high variability in 3D UKA femoral (6.2° ± 6.5°) and tibial (4.6° ± 6.4°) component positioning was observed. A trend toward better outcome scores in lower angles of femoral (<2.7° external rotation [ER]) and tibial (2.7° ER to 2.4° internal rotation [IR]) component rotation was noted, with better functional scores observed at mean femoral and tibial rotation angles of 3° ER to 3° IR.

CONCLUSION

Patients with UKA femoral and/or tibial component rotation angles within 3° ER to 3° IR of neutral component alignment reported better functional outcomes. Surgeons should be cognizant of the high variability noted in UKA component axial rotation and its potential correlation with functional scores.

In vivo Kinematics of the Knee after a Posterior Cruciate-Substituting Total Knee Arthroplasty: A Comparison between Caucasian and South Korean Patients

Purpose

This study compared in vivo kinematic differences between Caucasian and South Korean patients after a posterior-substituting total knee arthroplasty (PS-TKA).

Materials and Methods

In vivo motions of 9 Caucasian and 13 South Korean knees with a PS-TKA during weight bearing single leg lunge were determined using a dual fluoroscopic imaging technique. Normalized tibiofemoral condylar motions and articular contact locations were analyzed.

Results

Femoral condylar motions of the two groups showed a similar trend in anteroposterior translation, but the South Korean patients were more anteriorly positioned than the Caucasian patients at low flexion and maximal flexion angles in both medial and lateral compartments (p<0.05). Mediolateral femoral condyle translations were similar between the two groups. For tibiofemoral articular contact kinematics, the South Korean patients had significantly more anterior contact locations at the medial compartment at low flexion angles, and more lateral contact locations at the lateral compartment at 0° and 90° flexion compared to the Caucasian patients (p<0.05). The South Korean patients had significantly larger distances between the medial and lateral contact locations at 60° and 90° flexion compared to the Caucasian patients (p<0.05).

Conclusions

The study revealed that while the Caucasian and South Korean knees had similar femoral condylar motions, after PS-TKA the South Korean patients showed different articular contact point kinematics compared to the Caucasian patients.

Three-Dimensional Imaging Analysis of Unicompartmental Knee Arthroplasty Evaluated in Standing Position: Component Alignment and In Vivo Articular Contact

BACKGROUND

Component malalignment in unicompartmental knee arthroplasty (UKA) has been associated with contact stress concentration and poor clinical outcomes. However, there is a paucity of data regarding UKA component alignment and in vivo articular contact in weight-bearing position. This study aims to (1) quantify three-dimensional UKA component alignment and (2) evaluate the association between the component alignment and in vivo articular contact in standing position.

METHODS

Seventy-seven UKAs in 68 consecutive patients were imaged in standing position using a biplanar X-ray imaging acquisition system. The UKA models were imported into a virtual imaging environment and registered with component silhouette on X-ray image for determination of component position and contact location. Anatomic bony landmarks of the lower limb were digitized for quantification of the bone alignment.

RESULTS

The femoral component (FC) showed 1.6° ± 3.3° valgus, 6.5° ± 6.4° external rotation, and 2.4° ± 4.6° flexion. The tibial component (TC) showed 3.9° ± 4.5° varus, 4.4° ± 6.7° internal rotation, and 10.1° ± 4.6° tibial slope. The average contact point was located medially and posteriorly by 7.8 ± 7.6% and 0.7 ± 7.7% of TC dimensions to its center. Multiple regression analysis identified FC flexion as a significant variable affecting UKA anterior and/or posterior contact position (R = 0.549, P < .001).

CONCLUSION

This study demonstrated the highest variability of UKA component positioning in axial plane rotation for FC and TC. The association between FC flexion and anterior contact position suggests accurate implant positioning may be important in optimizing in vivo UKA contact behavior. Further studies are required to gain understanding of the influence of axial rotation variability on in vivo UKA contact kinematics during functional activities.

Assessment of accuracy and precision of 3D reconstruction of unicompartmental knee arthroplasty in upright position using biplanar radiography

This study aimed to evaluate the precision and accuracy of 3D reconstruction of UKA component position, contact location and lower limb alignment in standing position using biplanar radiograph. Two human specimens with 4 medial UKAs were implanted with beads for radiostereometric analysis (RSA). The specimens were frozen in standing position and CT-scanned to obtain relative positions between the beads, bones and UKA components. The specimens were then imaged using biplanar radiograph (EOS). The positions of the femur, tibia, UKA components and UKA contact locations were obtained using RSA- and EOS-based techniques. Intraclass correlation coefficient (ICC) was calculated for inter-observer reliability of the EOS technique. The average (standard deviation) of the differences between two techniques in translations and rotations were less than 0.18 (0.29) mm and 0.39° (0.66°) for UKA components. The root-mean-square-errors (RMSE) of contact location along the anterior/posterior and medial/lateral directions were 0.84mm and 0.30mm. The RMSEs of the knee rotations were less than 1.70°. The ICCs for the EOS-based segmental orientations between two raters were larger than 0.98. The results suggest the EOS-based 3D reconstruction technique can precisely determine component position, contact location and lower limb alignment for UKA patients in weight-bearing standing position.

Establishing a Customized Guide Plate for Osteotomy in Total Knee Arthroplasty Using Lower-extremity X-ray and Knee Computed Tomography Images

BACKGROUND

The conventional method cannot guarantee the precise osteotomies required for a perfect realignment and a better prognosis after total knee arthroplasty (TKA). This study investigated a customized guide plate for osteotomy placement in TKAs with the aid of the statistical shape model technique using weight-bearing lower-extremity X-rays and computed tomography (CT) images of the knee.

METHODS

From October 2014 to June 2015, 42 patients who underwent a TKA in Guizhou Provincial People's Hospital were divided into a guide plate group (GPG, 21 cases) and a traditional surgery group (TSG, 21 cases) using a random number table method. In the GPG group, a guide plate was designed and printed using preoperative three-dimensional measurements to plan and digitally simulate the operation. TSG cases were treated with the conventional method. Outcomes were obtained from the postoperative image examination and short-term follow-up.

RESULTS

Operative time was 49.0 ± 10.5 min for GPG, and 62.0 ± 9.7 min in TSG. The coronal femoral angle, coronal tibial angle, posterior tibial slope, and the angle between the posterior condylar osteotomy surface and the surgical transepicondylar axis were 89.2 ± 1.7°, 89.0 ± 1.1°, 6.6 ± 1.4°, and 0.9 ± 0.3° in GPG, and 86.7 ± 2.9°, 87.6 ± 2.1°, 8.9 ± 2.8°, and 1.7 ± 0.8° in TSG, respectively. The Hospital for Special Surgery scores 3 months after surgery were 83.7 ± 18.4 in GPG and 71.5 ± 15.2 in TSG. Statistically significant differences were found between GPG and TSG in all measurements.

CONCLUSIONS

A customized guide plate to create an accurate osteotomy in TKAs may be created using lower-extremity X-ray and knee CT images. This allows for shorter operative times and better postoperative alignment than the traditional surgery. Application of the digital guide plate may also result in better short-term outcomes.

Mobile Biplane X-Ray Imaging System for Measuring 3D Dynamic Joint Motion During Overground Gait

Most X-ray fluoroscopy systems are stationary and impose restrictions on the measurement of dynamic joint motion; for example, knee-joint kinematics during gait is usually measured with the subject ambulating on a treadmill. We developed a computer-controlled, mobile, biplane, X-ray fluoroscopy system to track human body movement for high-speed imaging of 3D joint motion during overground gait. A robotic gantry mechanism translates the two X-ray units alongside the subject, tracking and imaging the joint of interest as the subject moves. The main aim of the present study was to determine the accuracy with which the mobile imaging system measures 3D knee-joint kinematics during walking. In vitro experiments were performed to measure the relative positions of the tibia and femur in an intact human cadaver knee and of the tibial and femoral components of a total knee arthroplasty (TKA) implant during simulated overground gait. Accuracy was determined by calculating mean, standard deviation and root-mean-squared errors from differences between kinematic measurements obtained using volumetric models of the bones and TKA components and reference measurements obtained from metal beads embedded in the bones. Measurement accuracy was enhanced by the ability to track and image the joint concurrently. Maximum root-mean-squared errors were 0.33 mm and 0.65° for translations and rotations of the TKA knee and 0.78 mm and 0.77° for translations and rotations of the intact knee, which are comparable to results reported for treadmill walking using stationary biplane systems. System capability for in vivo joint motion measurement was also demonstrated for overground gait.

In vivo dynamic changes of dimensions in the lumbar intervertebral foramen

BACKGROUND CONTEXT

Previous studies have reported position-dependent changes of the lumbar intervertebral foramen (LIVF) dimensions at different static flexion-extension postures. However, the changes of the LIVF dimensions during dynamic body motion have not been reported.

PURPOSE

The objective of this study was to investigate the in vivo dimensions of the LIVF during a dynamic weight-lifting activity.

STUDY DESIGN/SETTING

This was a retrospective study.

METHODS

Ten asymptomatic subjects were recruited for this study. Three-dimensional (3D) vertebral models of the lumbar segments from L2 to S1 were constructed for each subject using magnetic resonance images. The lumbar spine was then imaged using a dual fluoroscopic imaging system as the subject performed a dynamic weight-lifting activity from an upper body position of 45° to a maximal extension position. The in vivo positions of the vertebrae along the motion path were reproduced using the 3D vertebral models and the fluoroscopic images. The minimal area, height, and width of each LIVF during the dynamic body motion were analyzed.

RESULTS

The LIVF area and width monotonically decreased with lumbar extension at all levels except L5-S1 (p<.05). On average, the LIVF area decreased by 7.4±6.7%, 10.8±7.7%, and 10.0±8.0% at the L2-L3, L3-L4, and L4-L5 levels, respectively, from the flexion to the upright standing position, and by 6.4±5.0%, 7.7±7.4%, and 5.1±5.1%, respectively, from the upright standing to the extension position. The LIVF height remained relatively constant at all segments during the dynamic activity. The foramen area, height, and width of the L5-S1 remained relatively constant throughout the activity.

CONCLUSIONS

Human lumbar foramen dimensions show segment-dependent characteristics during the dynamic weight-lifting activity.

Prediction of in vivo knee joint kinematics using a combined dual fluoroscopy imaging and statistical shape modeling technique

Using computed tomography (CT) or magnetic resonance (MR) images to construct 3D knee models has been widely used in biomedical engineering research. Statistical shape modeling (SSM) method is an alternative way to provide a fast, cost-efficient, and subject-specific knee modeling technique. This study was aimed to evaluate the feasibility of using a combined dual-fluoroscopic imaging system (DFIS) and SSM method to investigate in vivo knee kinematics. Three subjects were studied during a treadmill walking. The data were compared with the kinematics obtained using a CT-based modeling technique. Geometric root-mean-square (RMS) errors between the knee models constructed using the SSM and CT-based modeling techniques were 1.16 mm and 1.40 mm for the femur and tibia, respectively. For the kinematics of the knee during the treadmill gait, the SSM model can predict the knee kinematics with RMS errors within 3.3 deg for rotation and within 2.4 mm for translation throughout the stance phase of the gait cycle compared with those obtained using the CT-based knee models. The data indicated that the combined DFIS and SSM technique could be used for quick evaluation of knee joint kinematics.

Articular contact kinematics of the knee before and after a cruciate retaining total knee arthroplasty

Accurate knowledge of tibiofemoral articular contact kinematics of the knee after total knee arthroplasty (TKA) is important for understanding the intrinsic knee biomechanics and improving the longevity of the components. The objective of this study was to compare the in vivo articular contact kinematics of the knees with end-stage medial osteoarthritis (OA) during a weight-bearing, single leg lunge activity before and after a posterior cruciate retaining TKA (CR-TKA) using a dual fluoroscopic imaging technique. We found that the CR-TKA resulted in more posterior contact positions on the tibial surface and a reduced range of motion in the medial and lateral compartments. The distances between medial and lateral contact locations in the CR-TKA knees were statistically larger than the OA knees. The articular contact centers have shifted from medial side of the tibial plateau pre-operatively to the lateral side after operation. This study indicated that the CR-TKA resulted in significant changes in contact kinematics of the knees in both anteroposterior and mediolateral directions. Further studies are needed to determine the influence of the altered in vivo contact kinematics on the longevity of polyethylene liner and long term clinical outcomes of the TKA.

Rigorous geometric self-calibrating bundle adjustment for a dual fluoroscopic imaging system

High-speed dual fluoroscopy is a noninvasive imaging technology for three-dimensional skeletal kinematics analysis that finds numerous biomechanical applications. Accurate reconstruction of bone translations and rotations from dual-fluoroscopic data requires accurate calibration of the imaging geometry and the many imaging distortions that corrupt the data. Direct linear transformation methods are commonly applied for performing calibration using a two-step process that suffers from a number of potential shortcomings including that each X-ray source and corresponding camera must be calibrated separately. Consequently, the true imaging set-up and the constraints it presents are not incorporated during calibration. A method to overcome such drawbacks is the single-step self-calibrating bundle adjustment method. This procedure, based on the collinearity principle augmented with imaging distortion models and geometric constraints, has been developed and is reported herein. Its efficacy is shown with a carefully controlled experiment comprising 300 image pairs with 48 507 image points. Application of all geometric constraints and a 31 parameter distortion model resulted in up to 91% improvement in terms of precision (model fit) and up to 71% improvement in terms of 3-D point reconstruction accuracy (0.3-0.4 mm). The accuracy of distance reconstruction was improved from 0.3±2.0 mm to 0.2 ±1.1 mm and angle reconstruction accuracy was improved from -0.03±0.55(°) to 0.01±0.06(°). Such positioning accuracy will allow for the accurate quantification of in vivo arthrokinematics crucial for skeletal biomechanics investigations.

Design, Repeatability, and Comparison to Literature Data of a New Noninvasive Device Called "Rotameter" to Measure Rotational Knee Laxity

The present paper deals with the design, the repeatability, and the comparison to literature data of a new measuring device called “Rotameter” to characterize the rotational knee laxity or the tibia-femoral rotation (TFR). The initial prototype P1 of the Rotameter is shortly introduced and then modified according to trials carried out on a prosthetic leg and on five healthy volunteers, leading therefore to an improved prototype P2. A comparison of results obtained from P1 and P2 with the same male subject shows the enhancements of P2. Intertester and intratester repeatability of this new device were shown and it was observed that rotational laxities of left and right knees are the same for a healthy subject. Moreover, a literature review showed that measurements with P2 presented lower TFR values than other noninvasive devices. The measured TFR versus torque characteristic was quite similar to other invasive devices, which are more difficult to use and harmful to the patient. Hence, our prototype P2 proved to be an easy-to-use and suitable device for quantifying rotational knee laxity. A forthcoming study will validate the Rotameter thanks to an approach based on computed tomography in order to evaluate its precision.

Results of automatic image registration are dependent on initial manual registration

Measurement of static alignment of articulating joints is of clinical benefit and can be determined using image-based registration. We propose a method that could potentially improve the outcome of image-based registration by using initial manual registration. Magnetic resonance images of two wrist specimens were acquired in the relaxed position and during simulated grasp. Transformations were determined from voxel-based image registration between the two volumes. The volumes were manually aligned to match as closely as possible before auto-registration, from which standard transformations were obtained. Then, translation/rotation perturbations were applied to the manual registration to obtain altered initial positions, from which altered auto-registration transformations were obtained. Models of the radiolunate joint were also constructed from the images to simulate joint contact mechanics. We compared the sensitivity of transformations (translations and rotations) and contact mechanics to altering the initial registration condition from the defined standard. We observed that with increasing perturbation, transformation errors appeared to increase and values for contact force and contact area appeared to decrease. Based on these preliminary findings, it appears that the final registration outcome is sensitive to the initial registration.

Predicting 3D pose in partially overlapped X-ray images of knee prostheses using model-based Roentgen stereophotogrammetric analysis (RSA)

After total knee replacement, the model-based Roentgen stereophotogrammetric analysis (RSA) technique has been used to monitor the status of prosthetic wear, misalignment, and even failure. However, the overlap of the prosthetic outlines inevitably increases errors in the estimation of prosthetic poses due to the limited amount of available outlines. In the literature, quite a few studies have investigated the problems induced by the overlapped outlines, and manual adjustment is still the mainstream. This study proposes two methods to automate the image processing of overlapped outlines prior to the pose registration of prosthetic models. The outline-separated method defines the intersected points and segments the overlapped outlines. The feature-recognized method uses the point and line features of the remaining outlines to initiate registration. Overlap percentage is defined as the ratio of overlapped to non-overlapped outlines. The simulated images with five overlapping percentages are used to evaluate the robustness and accuracy of the proposed methods. Compared with non-overlapped images, overlapped images reduce the number of outlines available for model-based RSA calculation. The maximum and root mean square errors for a prosthetic outline are 0.35 and 0.04 mm, respectively. The mean translation and rotation errors are 0.11 mm and 0.18°, respectively. The errors of the model-based RSA results are increased when the overlap percentage is beyond about 9%. In conclusion, both outline-separated and feature-recognized methods can be seamlessly integrated to automate the calculation of rough registration. This can significantly increase the clinical practicability of the model-based RSA technique.

Estimating total knee replacement joint load ratios from kinematics

Accurate prediction of loads acting at the joint in total knee replacement (TKR) patients is key to developing experimental or computational simulations which evaluate implant designs under physiological loading conditions. In vivo joint loads have been measured for a small number of telemetric TKR patients, but in order to assess device performance across the entire patient population, a larger patient cohort is necessary. This study investigates the accuracy of predicting joint loads from joint kinematics. Specifically, the objective of the study was to assess the accuracy of internal-external (I-E) and anterior-posterior (A-P) joint load predictions from I-E and A-P motions under a given compressive load, and to evaluate the repeatability of joint load ratios (I-E torque to compressive force (I-E:C), and A-P force to compressive force (A-P:C)) for a range of compressive loading profiles. A tibiofemoral finite element model was developed and used to simulate deep knee bend, chair-rise and step-up activities for five patients. Root-mean-square (RMS) differences in I-E:C and A-P:C load ratios between telemetric measurements and model predictions were less than 1.10e-3 Nm/N and 0.035 N/N for all activities. I-E:C and A-P:C load ratios were consistently reproduced regardless of the compressive force profile applied (RMS differences less than 0.53e-3 Nm/N and 0.010 N/N, respectively). When error in kinematic measurement was introduced to the model, joint load predictions were forgiving to kinematic measurement error when conformity between femoral and tibial components was low. The prevalence of kinematic data, in conjunction with the analysis presented here, facilitates determining the scope of A-P and I-E joint loading ratios experienced by the TKR population.

Low-dose three-dimensional reconstruction of the femur with unit free-form deformation

PURPOSE

This paper describes a low-dose method for reconstructing three-dimensional models of femur, using a standard shape model (SSM) and two conventional x-ray images.

METHODS

The x-ray images were taken in two orthogonal directions. The x-ray source and sensor configurations were documented. An optimized algorithm was employed to align the x-ray image to the three-dimensional model. A method of direct correspondence building is proposed for linking two-dimensional images with three-dimensional projections of a SSM. The reconstruction method proposed in this paper is based on a SSM, which was adapted for x-ray images of individual bones. The adaption was executed by deforming the template bone shape until its silhouette boundary exactly matched the x-ray image of the individual bone. A silhouette-based unit free-form deformation method was evaluated for its suitability in the adaption of the SSM for x-ray images. Comprehensive experiments were designed and conducted for 35 specimens.

RESULTS

The validity of the low-dose reconstruction method was demonstrated for the femur, with good results for accuracy (mean error of 1.1 mm, root-mean-square error of 2.1 mm), reproducibility (intraobservation coefficient of variation of 1.1%, interobservation coefficient of variation of 1.4%), and time consumption (mean of 5 min for a full femur).

CONCLUSIONS

Once this approach has been validated in vivo, it should be suited to multiple applications of routine clinical and research practices.

Dynamic motion characteristics of the lower lumbar spine: implication to lumbar pathology and surgical treatment

PURPOSE

Many studies have reported on the segmental motion range of the lumbar spine using various in vitro and in vivo experimental designs. However, the in vivo weightbearing dynamic motion characteristics of the L4-5 and L5-S1 motion segments are still not clearly described in literature. This study investigated in vivo motion of the lumbar spine during a weight-lifting activity.

METHODS

Ten asymptomatic subjects (M/F: 5/5; age: 40-60 years) were recruited. The lumbar segment of each subject was MRI-scanned to construct 3D models of the L2-S1 vertebrae. The lumbar spine was then imaged using a dual fluoroscopic imaging system as the subject performed a weight-lifting activity from a lumbar flexion position (45°) to maximal extension position. The 3D vertebral models and the fluoroscopic images were used to reproduce the in vivo vertebral positions along the motion path. The relative translations and rotations of each motion segment were analyzed.

RESULTS

All vertebral motion segments, L2-3, L3-4, L4-5 and L5-S1, rotated similarly during the lifting motion. L4-5 showed the largest anterior-posterior (AP) translation with 2.9 ± 1.5 mm and was significantly larger than L5-S1 (p < 0.05). L5-S1 showed the largest proximal-distal (PD) translation with 2.8 ± 0.9 mm and was significantly larger than all other motion segments (p < 0.05).

CONCLUSIONS

The lower lumbar motion segments L4-5 and L5-S1 showed larger AP and PD translations, respectively, than the higher vertebral motion segments during the weight-lifting motion. The data provide insight into the physiological motion characteristics of the lumbar spine and potential mechanical mechanisms of lumbar disease development.

Principal component analysis in construction of 3D human knee joint models using a statistical shape model method

The statistical shape model (SSM) method that uses 2D images of the knee joint to predict the three-dimensional (3D) joint surface model has been reported in the literature. In this study, we constructed a SSM database using 152 human computed tomography (CT) knee joint models, including the femur, tibia and patella and analysed the characteristics of each principal component of the SSM. The surface models of two in vivo knees were predicted using the SSM and their 2D bi-plane fluoroscopic images. The predicted models were compared to their CT joint models. The differences between the predicted 3D knee joint surfaces and the CT image-based surfaces were 0.30 ± 0.81 mm, 0.34 ± 0.79 mm and 0.36 ± 0.59 mm for the femur, tibia and patella, respectively (average ± standard deviation). The computational time for each bone of the knee joint was within 30 s using a personal computer. The analysis of this study indicated that the SSM method could be a useful tool to construct 3D surface models of the knee with sub-millimeter accuracy in real time. Thus, it may have a broad application in computer-assisted knee surgeries that require 3D surface models of the knee.

A novel dual fluoroscopic imaging method for determination of THA kinematics: in-vitro and in-vivo study

Accurate measurement of six-degrees-of-freedom in-vivo kinematics of the total hip arthroplasty (THA) is essential in gaining insights into in-vivo THA performance. The objective of this study was to validate a novel dual fluoroscopy imaging system (DFIS) for determination of the THA kinematics using both in-vitro and in-vivo approaches. The in-vitro validation utilized cadaveric hip specimens to compare the THA motion using the DFIS technique with those measured by a radiostereometric analysis (RSA). The differences between the DFIS technique and the RSA were within 0.33±0.81 mm (mean±SD) in translation and 0.45±0.65° in rotation during dynamic motion of the hips. In the in-vivo validation, the THA kinematics of two patients during a treadmill gait was assessed for the feasibility/repeatability of the DFIS technique in measurement of THA kinematics. The poses of the THAs during the treadmill gait was measured using the DFIS technique with the maximum standard deviation of 0.35 mm in translation and of 0.55° in rotation. This study demonstrated that the DFIS technique has comparable accuracy of the RSA and is highly repeatable for measurement of dynamic THA motion, suggesting that the DFIS is a promising tool in evaluating the in-vivo THA biomechanics during functional activities.

Improvement in the clinical practicability of roentgen stereophotogrammetric analysis (RSA): free from the use of the dual X-ray equipment

After total knee replacement, the monitoring of the prosthetic performance is often done by roentgenographic examination. However, the two-dimensional (2D) roentgen images only provide information about the projection onto the anteroposterior (AP) and mediolateral (ML) planes. Historically, the model-based roentgen stereophotogrammetric analysis (RSA) technique has been developed to predict the spatial relationship between prostheses by iteratively comparing the projective data for the prosthetic models and the roentgen images. During examination, the prosthetic poses should be stationary. This should be ensured, either by the use of dual synchronized X-ray equipment or by the use of a specific posture. In practice, these methods are uncommon or technically inconvenient during follow-up examination. This study aims to develop a rotation platform to improve the clinical applicability of the model-based RSA technique. The rotation platform allows the patient to assume a weight-bearing posture, while being steadily rotated so that both AP and ML knee images can be obtained. This study uses X-ray equipment with a single source and flat panel detectors (FPDs). Four tests are conducted to evaluate the quality of the FPD images, steadiness of the rotation platform, and accuracy of the RSA results. The results show that the distortion-induced error of the FPD image is quite minor, and the prosthetic size can be cautiously calibrated by means of the scale ball(s). The rotation platform should be placed closer to the FPD and orthogonal to the projection axis of the X-ray source. Image overlap of the prostheses can be avoided by adjusting both X-ray source and knee posture. The device-induced problems associated with the rotation platform include the steadiness of the platform operation and the balance of the rotated subject. Sawbone tests demonstrate that the outline error, due to the platform, is of the order of the image resolution (= 0.145 mm). In conclusion, the rotation platform with steady rotation, a knee support, and a handle can serve as an alternative method to take prosthetic images, without the loss in accuracy associated with the RSA method.

Robust 2D/3D registration for fast-flexion motion of the knee joint using hybrid optimization

Previously, we proposed a 2D/3D registration method that uses Powell's algorithm to obtain 3D motion of a knee joint by 3D computed-tomography and bi-plane fluoroscopic images. The 2D/3D registration is performed consecutively and automatically for each frame of the fluoroscopic images. This method starts from the optimum parameters of the previous frame for each frame except for the first one, and it searches for the next set of optimum parameters using Powell's algorithm. However, if the flexion motion of the knee joint is fast, it is likely that Powell's algorithm will provide a mismatch because the initial parameters are far from the correct ones. In this study, we applied a hybrid optimization algorithm (HPS) combining Powell's algorithm with the Nelder-Mead simplex (NM-simplex) algorithm to overcome this problem. The performance of the HPS was compared with the separate performances of Powell's algorithm and the NM-simplex algorithm, the Quasi-Newton algorithm and hybrid optimization algorithm with the Quasi-Newton and NM-simplex algorithms with five patient data sets in terms of the root-mean-square error (RMSE), target registration error (TRE), success rate, and processing time. The RMSE, TRE, and the success rate of the HPS were better than those of the other optimization algorithms, and the processing time was similar to that of Powell's algorithm alone.

Hierarchical model-based tracking of cervical vertebrae from dynamic biplane radiographs

We present a novel approach for automatically, accurately and reliably determining the 3D motion of the cervical spine from a series of stereo or biplane radiographic images. These images could be acquired through a variety of different imaging hardware configurations. We follow a hierarchical, anatomically-aware, multi-bone approach that takes into account the complex structure of cervical vertebrae and inter-vertebrae overlapping, as well as the temporal coherence in the imaging series. These significant innovations improve the speed, accuracy, reliability and flexibility of the tracking process. Evaluation on cervical data shows that the approach is as accurate (average precision 0.3 mm and 1°) as the expert human-operator driven method that was previously state of the art. However, unlike the previously used method, the hierarchical approach is automatic and robust; even in the presence of implanted hardware. Therefore, the method has solid potential for clinical use to evaluate the effectiveness of surgical interventions.

Improved execution efficiency of model-based roentgen stereophotogrammetric analysis: simplification and segmentation of model meshes

Recently, the model-based roentgen stereophotogrammetric analysis (RSA) method has been developed as an in vivo tool to estimate static pose and dynamic motion of the instrumented prostheses. The two essential inputs for the RSA method are prosthetic models and roentgen images. During RSA calculation, the implants are often reversely scanned and input in the form of meshes to estimate the outline error between prosthetic projection and roentgen images. However, the execution efficiency of the RSA iterative calculation may limit its clinical practicability, and one reason for inefficiency may be very large number of meshes in the model. This study uses two methods of mesh manipulation to improve the execution efficiency of RSA calculation. The first is to simplify the model meshes and the other is to segment and delete the meshes of insignificant regions. An index (i.e. critical percentage) of an optimal element number is defined as the trade-off between execution efficiency and result accuracy. The predicted results are numerically validated by total knee prosthetic system. The outcome shows that the optimal strategy of the mesh manipulation is simplification and followed by segmentation. On average, the element number can even be reduced to 1% of the original models. After the mesh manipulation, the execution efficiency can be increased about 75% without compromising the accuracy of the predicted RSA results (the increment of rotation and translation error: 0.06° and 0.02 mm). In conclusion, prosthetic models should be manipulated by simplification and segmentation methods prior to the RSA calculation to increase the execution efficiency and then to improve clinical applicability of the RSA method.

The accuracy and repeatability of an automatic 2D-3D fluoroscopic image-model registration technique for determining shoulder joint kinematics

Fluoroscopic imaging, using single plane or dual plane images, has grown in popularity to measure dynamic in vivo human shoulder joint kinematics. However, no study has quantified the difference in spatial positional accuracy between single and dual plane image-model registration applied to the shoulder joint. In this paper, an automatic 2D-3D image-model registration technique was validated for accuracy and repeatability with single and dual plane fluoroscopic images. Accuracy was assessed in a cadaver model, kinematics found using the automatic registration technique were compared to those found using radiostereometric analysis. The in vivo repeatability of the automatic registration technique was assessed during the dynamic abduction motion of four human subjects. The in vitro data indicated that the error in spatial positional accuracy of the humerus and the scapula was less than 0.30mm in translation and less than 0.58° in rotation using dual plane images. Single plane accuracy was satisfactory for in-plane motion variables, but out-of-plane motion variables on average were approximately 8 times less accurate. The in vivo test indicated that the repeatability of the automatic 2D-3D image-model registration was 0.50mm in translation and 1.04° in rotation using dual images. For a single plane technique, the repeatability was 3.31mm in translation and 2.46° in rotation for measuring shoulder joint kinematics. The data demonstrate that accurate and repeatable shoulder joint kinematics can be obtained using dual plane fluoroscopic images with an automatic 2D-3D image-model registration technique; and that out-of-plane motion variables are less accurate than in-plane motion variables using a single plane technique.

Automatic model-based roentgen stereophotogrammetric analysis (RSA) of total knee prostheses

Conventional radiography is insensitive for early and accurate estimation of the mal-alignment and wear of knee prostheses. The two-staged (rough and fine) registration of the model-based RSA technique has recently been developed to in vivo estimate the prosthetic pose (i.e, location and orientation). In the literature, rough registration often uses template match or manual adjustment of the roentgen images. Additionally, possible error induced by the nonorthogonality of taking two roentgen images neither examined nor calibrated prior to fine registration. This study developed two RSA methods for automate the estimation of the prosthetic pose and decrease the nonorthogonality-induced error. The predicted results were validated by both simulative and experimental tests and compared with reported findings in the literature. The outcome revealed that the feature-recognized method automates pose estimation and significantly increases the execution efficiency up to about 50 times in comparison with the literature counterparts. Although the nonorthogonal images resulted in undesirable errors, the outline-optimized method can effectively compensate for the induced errors prior to fine registration. The superiority in automation, efficiency, and accuracy demonstrated the clinical practicability of the two proposed methods especially for the numerous fluoroscopic images of dynamic motion.

Future trends in the use of X-ray fluoroscopy for the measurement and modelling of joint motion

Knowledge of three-dimensional skeletal kinematics during functional activities such as walking, is required for accurate modelling of joint motion and loading, and is important in identifying the effects of injury and disease. For example, accurate measurement of joint kinematics is essential in understanding the pathogenesis of osteoarthritis and its symptoms and for developing strategies to alleviate joint pain. Bi-plane X-ray fluoroscopy has the capacity to accurately and non-invasively measure human joint motion in vivo. Joint kinematics obtained using bi-plane X-ray fluoroscopy will aid in the development of more complex musculoskeletal models, which may be used to assess joint function and disease and plan surgical interventions and post-operative rehabilitation strategies. At present, however, commercial C-arm systems constrain the motion of the subject within the imaging field of view, thus precluding recording of motions such as overground gait. These fluoroscopy systems also operate at low frame rates and therefore cannot accurately capture high-speed joint motion during tasks such as running and throwing. In the future, bi-plane fluoroscopy systems may include computer-controlled tracking for the measurement of joint kinematics over entire cycles of overground gait without constraining motion of the subject. High-speed cameras will facilitate measurement of high-impulse joint motions, and computationally efficient pose-estimation software may provide a fast and fully automated process for quantification of natural joint motion.

Estimation of in vivo ACL force changes in response to increased weightbearing

Accurate knowledge of in vivo anterior cruciate ligament (ACL) forces is instrumental for understanding normal ACL function and improving surgical ACL reconstruction techniques. The objective of this study was to estimate the change in ACL forces under in vivo loading conditions using a noninvasive technique. A combination of magnetic resonance and dual fluoroscopic imaging system was used to determine ACL in vivo elongation during controlled weightbearing at discrete flexion angles, and a robotic testing system was utilized to determine the ACL force-elongation data in vitro. The in vivo ACL elongation data were mapped to the in vitro ACL force-elongation curve to estimate the change in in vivo ACL forces in response to full body weightbearing using a weighted mean statistical method. The data demonstrated that by assuming that there was no tension in the ACL under zero weightbearing, the changes in in vivo ACL force caused by full body weightbearing were 131.4 ± 16.8 N at 15 deg, 106.7 ± 11.2 N at 30 deg, and 34.6 ± 4.5 N at 45 deg of flexion. However, when the assumed tension in the ACL under zero weightbearing was over 20 N, the change in the estimated ACL force in response to the full body weightbearing approached an asymptotic value. With an assumed ACL tension of 40 N under zero weightbearing, the full body weight caused an ACL force increase in 202.7 ± 27.6 N at 15 deg, 184.9 ± 22.5 N at 30 deg, and 98.6 ± 11.7 N at 45 deg of flexion. The in vivo ACL forces were dependent on the flexion angle with higher force changes at low flexion angles. Under full body weightbearing, the ACL may experience less than 250 N. These data may provide a valuable insight into the biomechanical behavior of the ACL under in vivo loading conditions.

An automatic 2D-3D image matching method for reproducing spatial knee joint positions using single or dual fluoroscopic images

Fluoroscopic image technique, using either a single image or dual images, has been widely applied to measure in vivo human knee joint kinematics. However, few studies have compared the advantages of using single and dual fluoroscopic images. Furthermore, due to the size limitation of the image intensifiers, it is possible that only a portion of the knee joint could be captured by the fluoroscopy during dynamic knee joint motion. In this paper, we presented a systematic evaluation of an automatic 2D-3D image matching method in reproducing spatial knee joint positions using either single or dual fluoroscopic image techniques. The data indicated that for the femur and tibia, their spatial positions could be determined with an accuracy and precision less than 0.2 mm in translation and less than 0.4° in orientation when dual fluoroscopic images were used. Using single fluoroscopic images, the method could produce satisfactory accuracy in joint positions in the imaging plane (in average up to 0.5 mm in translation and 1.3° in rotation), but large variations along the out-plane direction (in average up to 4.0 mm in translation and 2.2° in rotation). The precision of using single fluoroscopic images to determine the actual knee positions was worse than its accuracy obtained. The data also indicated that when using dual fluoroscopic image technique, if the knee joint outlines in one image were incomplete by 80%, the algorithm could still reproduce the joint positions with high precisions.

Construction of 3D human distal femoral surface models using a 3D statistical deformable model

Construction of 3D geometric surface models of human knee joint is always a challenge in biomedical engineering. This study introduced an improved statistical shape model (SSM) method that only uses 2D images of a joint to predict the 3D joint surface model. The SSM was constructed using 40 distal femur models of human knees. In this paper, a series validation and parametric analysis suggested that more than 25 distal femur models are needed to construct the SSM; each distal femur should be described using at least 3000 nodes in space; and two 2D fluoroscopic images taken in 45° directions should be used for the 3D surface shape prediction. Using this SSM method, ten independent distal femurs from 10 independent living subjects were predicted using their 2D plane fluoroscopic images. The predicted models were compared to their native 3D distal femur models constructed using their 3D MR images. The results demonstrated that using two fluoroscopic images of the knee, the overall difference between the predicted distal femur surface and the MR image-based surface was 0.16±1.16 mm. These data indicated that the SSM method could be a powerful method for construction of 3D surface geometries of the distal femur.

Total knee arthroplasty three-dimensional kinematic estimation prevision. From a two-dimensional fluoroscopy acquired dynamic model

INTRODUCTION

To determine six-degree of freedom of total knee arthroplasty kinematics (TKA), optimized matching algorithms for single fluoroscopic image system may be used. Theoretical accuracy of these systems was reported. Nevertheless, all reports were done under idealized laboratory experimental conditions. The aim of this study was to evaluate the "true" accuracy of a flat panel single plane video-fluoroscopy system based on computed-assisted design (CAD) model matching and compare it to TKA kinematics obtained from optoelectronic measurements as gold standard.

HYPOTHESIS

The estimation of the error produced by 2D/3D fluoroscopic registration in daily practice is misjudged in most available laboratory reports.

MATERIAL AND METHODS

The experimental set-up used a TKA implanted into femoral and tibial cadaver bones. Thirty flexions were simultaneously registered using single plane fluoroscopy and an active optical tracking system. Kinematics registered were compared using the root mean square error (RMS), the concordance correlation coefficient and Bland & Altman plot analysis.

RESULTS

The mean range of motion of flexion during the experiment was 106°. The respective RMS for flexion, varus-valgus and internal-external rotation were 0.68, 0.67 and 1.02°. The respective RMS for antero-posterior, medio-lateral and proximo-distal displacement were 1.3, 2.4 and 1.06 mm. Extreme values of the measured error concerning medio-lateral displacement were -5.4 and 22,1mm.

DISCUSSIONS

Analysis found some outliners in all degree of freedom with a systematic error and larger standard deviation than already published data. One should make sure that during the experiment the motion of interest is in the in-plane direction. Moreover, this study brings out the true threshold detection of this type of analysis.

Segmental lumbar rotation in patients with discogenic low back pain during functional weight-bearing activities

BACKGROUND

Little information is available on vertebral motion in patients with discogenic low back pain under physiological conditions. We previously validated a combined dual fluoroscopic and magnetic resonance imaging system to investigate in vivo lumbar kinematics. The purpose of the present study was to characterize mechanical dysfunction among patients with confirmed discogenic low back pain, relative to asymptomatic controls without degenerative disc disease, by quantifying abnormal vertebral motion.

METHODS

Ten subjects were recruited for the present study. All patients had discogenic low back pain confirmed clinically and radiographically at L4-L5 and L5-S1. Motions were reproduced with use of the combined imaging technique during flexion-extension, left-to-right bending, and left-to-right twisting movements. From local coordinate systems at the end plates, relative motions of the cephalad vertebrae with respect to caudad vertebrae were calculated at each of the segments from L2 to S1. Range of motion of the primary rotations and coupled translations and rotations were determined.

RESULTS

During all three movements, the greatest range of motion was observed at L3-L4. L3-L4 had significantly greater motion than L2-L3 with left-right bending and left-right twisting movements (p < 0.05). The least motion occurred at L5-S1 for all movements; the motion at this level was significantly smaller than that at L3-L4 (p < 0.05). Range of motion during left-right bending and left-right twisting at L3-L4 was significantly larger in the degenerative disc disease group than in the normal group. The range of motion at L4-L5 was significantly larger in the degenerative group than in the normal group during flexion; however, the ranges of motion in both groups were similar during left-to-right bending and left-to-right twisting.

CONCLUSIONS

The greatest range of motion in patients with discogenic back pain was observed at L3-L4; this motion was greater than that in normal subjects, suggesting that superior adjacent levels developed segmental hypermobility prior to undergoing fusion. L5-S1 had the least motion, suggesting that segmental hypomobility ensues at this level in patients with discogenic low back pain.

Virtual axis finder: a new method to determine the two kinematic axes of rotation for the tibio-femoral joint

The tibio-femoral joint has been mechanically approximated with two fixed kinematic axes of rotation, the longitudinal rotational (LR) axis in the tibia and the flexion-extension (FE) axis in the femur. The mechanical axis finder developed by Hollister et al. (1993, "The Axes of Rotation of the Knee," Clin. Orthop. Relat. Res., 290, pp. 259-268) identified the two fixed axes but the visual-based alignment introduced errors in the method. Therefore, the objectives were to develop and validate a new axis finding method to identify the LR and FE axes which improves on the error of the mechanical axis finder. The virtual axis finder retained the concepts of the mechanical axis finder but utilized a mathematical optimization to identify the axes. Thus, the axes are identified in a two-step process: First, the LR axis is identified from pure internal-external rotation of the tibia and the FE axis is identified after the LR axis is known. The validation used virtual simulations of 3D video-based motion analysis to create relative motion between the femur and tibia during pure internal-external rotation, and flexion-extension with coupled internal-external rotation. The simulations modeled tibio-femoral joint kinematics and incorporated 1 mm of random measurement error. The root mean squared errors (RMSEs) in identifying the position and orientation of the LR and FE axes with the virtual axis finder were 0.45 mm and 0.20 deg, and 0.11 mm and 0.20 deg, respectively. These errors are at least two times better in position and seven times better in orientation than those of the mechanical axis finder. Variables, which were considered a potential source of variation between joints and/or measurement systems, were tested for their sensitivity to the RMSE of identifying the axes. Changes in either the position or orientation of a rotational axis resulted in high sensitivity to translational RMSE (6.8 mm of RMSE per mm of translation) and rotational RMSE (1.38 deg of RMSE per degree of rotation), respectively. Notwithstanding these high sensitivities, corresponding errors can be reduced by segmenting the range of motion into regions where changes in either position or orientation are small. The virtual axis finder successfully increased the accuracy of the mechanical axis finder when the axes of motion are fixed with respect to the bones, but must be used judiciously in applications which do not have fixed axes of rotation.