Hoof ground interaction: when biomechanical stimuli challenge the tissues of the distal limb

Timing Differences in Stride Cycle Phases in Retired Racehorses Ridden in Rising and Two-Point Seat Positions at Trot on Turf, Artificial and Tarmac Surfaces

Injuries to racehorses and their jockeys are not limited to the racetrack and high-speed work. To optimise racehorse-jockey dyads' health, well-being, and safety, it is important to understand their kinematics under the various exercise conditions they are exposed to. This includes trot work on roads, turf and artificial surfaces when accessing gallop tracks and warming up. This study quantified the forelimb hoof kinematics of racehorses trotting over tarmac, turf and artificial surfaces as their jockey adopted rising and two-point seat positions. A convenience sample of six horses was recruited from the British Racing School, Newmarket, and the horses were all ridden by the same jockey. Inertial measurement units (HoofBeat) were secured to the forelimb hooves of the horses and enabled landing, mid-stance, breakover, swing and stride durations, plus stride length, to be quantified via an in-built algorithm. Data were collected at a frequency of 1140 Hz. Linear Mixed Models were used to test for significant differences in the timing of these stride phases and stride length amongst the different surface and jockey positions. Speed was included as a covariate. Significance was set at p < 0.05. Hoof landing and mid-stance durations were negatively correlated, with approximately a 0.5 ms decrease in mid-stance duration for every 1 ms increase in landing duration (r2 = 0.5, p < 0.001). Hoof landing duration was significantly affected by surface (p < 0.001) and an interaction between jockey position and surface (p = 0.035). Landing duration was approximately 4.4 times shorter on tarmac compared to grass and artificial surfaces. Mid-stance duration was significantly affected by jockey position (p < 0.001) and surface (p = 0.001), speed (p < 0.001) and jockey position*speed (p < 0.001). Mean values for mid-stance increased by 13 ms with the jockey in the two-point seat position, and mid-stance was 19 ms longer on the tarmac than on the artificial surface. There was no significant difference in the breakover duration amongst surfaces or jockey positions (p ≥ 0.076) for the ridden dataset. However, the mean breakover duration on tarmac in the presence of a rider decreased by 21 ms compared to the in-hand dataset. Swing was significantly affected by surface (p = 0.039) and speed (p = 0.001), with a mean swing phase 20 ms longer on turf than on the artificial surface. Total stride duration was affected by surface only (p = 0.011). Tarmac was associated with a mean stride time that was significantly reduced, by 49 ms, compared to the turf, and this effect may be related to the shorter landing times on turf. Mean stride length was 14 cm shorter on tarmac than on grass, and stride length showed a strong positive correlation with speed, with a 71 cm increase in stride length for every 1 m s-1 increase in speed (r2 = 0.8, p < 0.001). In summary, this study demonstrated that the durations of the different stride cycle phases and stride length can be sensitive to surface type and jockey riding position. Further work is required to establish links between altered stride time variables and the risk of musculoskeletal injury.

Immediate Effect of Hoof Trimming on Hoof and Thoracic Joint Angles in Mangalarga Mares

It is important to understand the effects of hoof trimming on hoof and limb conformation to maximize its benefits on the health of the appendicular skeleton of horses, thus promoting improvements in athletic performance and sporting longevity with regard to athletic horses. There is little information on possible changes in the angulation of the thoracic limb joints after hoof trimming and correlations between the angulation of the thoracic limb joints with hoof measurements. To that purpose, nineteen Mangalarga mares received routine hoof trimming. Visual recordings (photographs) were taken before and after the procedure. Differences (p < 0.05) were found in hoof length, toe angle, heel angle, medial heel height, and metacarpophalangeal angle. Before trimming, correlations were found between frog length and scapulohumeral angle (SH) (r = -0.457; p = 0.049), and between toe length and shoulder-ground angle (SG) (r = -0.553; p = 0.049). A correlation was also seen between the distance from the frog to the lateral wall and the SH angle (r = 0.690; p = 0.001). After trimming, there was a correlation between humeroradial (HR) and SH joint angles (r = 0.669; p = 0.002), and the SG and SH angles (r = 0.488; p = 0.034). This study showed an immediate effect of trimming on the toe angle and heel angle and on the metacarpophalangeal joint angle, in addition to correlations between the hoof and proximal joint angles, following trimming, thus evidencing the relevance of trimming not only in hoof morphology, but also in the conformation of the appendicular skeleton of horses.

Hoof Impact and Foot-Off Accelerations in Galloping Thoroughbred Racehorses Trialling Eight Shoe-Surface Combinations

The athletic performance and safety of racehorses is influenced by hoof−surface interactions. This intervention study assessed the effect of eight horseshoe−surface combinations on hoof acceleration patterns at impact and foot-off in 13 galloping Thoroughbred racehorses retired from racing. Aluminium, barefoot, GluShu (aluminium−rubber composite) and steel shoeing conditions were trialled on turf and artificial (Martin Collins Activ-Track) surfaces. Shod conditions were applied across all four hooves. Tri-axial accelerometers (SlamStickX, range ±500 g, sampling rate 5000 Hz) were attached to the dorsal hoof wall (x: medio-lateral, medial = positive; y: along dorsal hoof wall, proximal = positive; and z: perpendicular to hoof wall, dorsal = positive). Linear mixed models assessed whether surface, shoeing condition or stride time influenced maximum (most positive) or minimum (most negative) accelerations in x, y and z directions, using ≥40,691 strides (significance at p < 0.05). Day and horse−rider pair were included as random factors, and stride time was included as a covariate. Collective mean accelerations across x, y and z axes were 22−98 g at impact and 17−89 g at foot-off. The mean stride time was 0.48 ± 0.07 s (mean ±2 SD). Impact accelerations were larger on turf in all directions for forelimbs and hindlimbs (p ≤ 0.015), with the exception of the forelimb z-minimum, and in absolute terms, maximum values were typically double the minimum values. The surface type affected all foot-off accelerations (p ≤ 0.022), with the exception of the hindlimb x-maximum; for example, there was an average increase of 17% in z-maximum across limbs on the artificial track. The shoeing condition influenced all impact and foot-off accelerations in the forelimb and hindlimb datasets (p ≤ 0.024), with the exception of the hindlimb impact y-maximum. Barefoot hooves generally experienced the lowest accelerations. The stride time affected all impact and foot-off accelerations (p < 0.001). Identifying factors influencing hoof vibrations upon landing and hoof motion during propulsion bears implication for injury risk and racing outcomes.

An investigation into different measurement techniques to assess equine proximal hoof circumference

Equine hoof conformation is integral to equine performance and soundness. Consequently, it is a major area of interest within the field of equine health. Researchers have measured several hoof shape parameters to study the hoof conformation. Proximal hoof circumference (PHC) is a primary hoof shape parameter, and its assessment may help to recognize the early stages of the development of changes in hoof morphology or poor hoof shape. Previous studies have mainly used a measuring tape to measure PHC. However, some doubts still exist regarding the reliability, repeatability and accuracy of measuring tape in this context. The current study conducted a technical comparison between the measuring tape and two alternative methods of 3D scanning and photogrammetry to measure PHC. Five equine limbs were collected from five adult horses, and the PHC of the limbs was measured using these three methods. The 3D scanner method was considered to be the highest accuracy and the reference for method comparisons. Pairwise correlations between the 3D scanner and the other two methods were conducted using a linear mixed model. The measuring tape and photogrammetry tended to overestimate the mean PHC compared to the 3D scanner by 0.96 mm (P > 0.05) and 2.2 mm (P < 0.05), respectively. In addition, an excellent interrater and intrarater correlation coefficient (ICC) index was reported for the reliability of the tape measurements. The variation of the tape measurements was +/-2 mm, which justified the use of measuring tape for PHC measurements in various clinical and horse management applications.

Response of the Thoroughbred forelimb to perturbations caused by a change in ground surface

Thoroughbred racehorses are often affected by musculoskeletal injuries, leading to involuntary rest, early retirement or death. Hardness and consistency of the track surface have been implicated as major risk factors for limb injury. The purpose was to test the utility of a preliminary AnyBody musculoskeletal model of the equine forelimb for its responses on two perturbing surfaces. A musculoskeletal model was developed using CT, muscle, tendon and ligament properties, and kinematic data were applied from ridden trials using five Thoroughbred horses. Horses were ridden at trot and canter on a baseline sand surface, and through two perturbation pits containing a harder and a softer surface for one stance phase. In response to the hard perturbation, the proximal limb was more compliant at trot and canter, as measured by increased shoulder flexion in the perturbed stance phase and increased elbow and carpal flexion in the subsequent swing phase. The suspensory ligaments and muscle-tendon units were less strained while lacertus fibrosus was more strained. In response to the soft perturbation, the coffin joint was more flexed and the elbow was more extended in the acute stance phase at trot, resulting in increased strain to the DDF, extensor branches and lacertus fibrosus. At canter, the coffin was more flexed, the fetlock less hyperextended and so the suspensory structures were less strained in the perturbed stance phase, but more strained in the second stance phase. Changes in ground surface affect both the perturbed stance phase, and the following stance phase.

The effect of horseshoes and surfaces on horse and jockey centre of mass displacements at gallop

Horseshoes influence how horses' hooves interact with different ground surfaces, during the impact, loading and push-off phases of a stride cycle. Consequently, they impact on the biomechanics of horses' proximal limb segments and upper body. By implication, different shoe and surface combinations could drive changes in the magnitude and stability of movement patterns in horse-jockey dyads. This study aimed to quantify centre of mass (COM) displacements in horse-jockey dyads galloping on turf and artificial tracks in four shoeing conditions: 1) aluminium; 2) barefoot; 3) GluShu; and 4) steel. Thirteen retired racehorses and two jockeys at the British Racing School were recruited for this intervention study. Tri-axial acceleration data were collected close to the COM for the horse (girth) and jockey (kidney-belt), using iPhones (Apple Inc.) equipped with an iOS app (SensorLog, sample rate = 50 Hz). Shoe-surface combinations were tested in a randomized order and horse-jockey pairings remained constant. Tri-axial acceleration data from gallop runs were filtered using bandpass Butterworth filters with cut-off frequencies of 15 Hz and 1 Hz, then integrated for displacement using Matlab. Peak displacement was assessed in both directions (positive 'maxima', negative 'minima') along the cranio-caudal (CC, positive = forwards), medio-lateral (ML, positive = right) and dorso-ventral (DV, positive = up) axes for all strides with frequency ≥2 Hz (mean = 2.06 Hz). Linear mixed-models determined whether surfaces, shoes or shoe-surface interactions (fixed factors) significantly affected the displacement patterns observed, with day, run and horse-jockey pairs included as random factors; significance was set at p<0.05. Data indicated that surface-type significantly affected peak COM displacements in all directions for the horse (p<0.0005) and for all directions (p≤0.008) but forwards in the jockey. The largest differences were observed in the DV-axis, with an additional 5.7 mm and 2.5 mm of downwards displacement for the horse and jockey, respectively, on the artificial surface. Shoeing condition significantly affected all displacement parameters except ML-axis minima for the horse (p≤0.007), and all displacement parameters for the jockey (p<0.0005). Absolute differences were again largest vertically, with notable similarities amongst displacements from barefoot and aluminium trials compared to GluShu and steel. Shoe-surface interactions affected all but CC-axis minima for the jockey (p≤0.002), but only the ML-axis minima and maxima and DV-axis maxima for the horse (p≤0.008). The results support the idea that hoof-surface interface interventions can significantly affect horse and jockey upper-body displacements. Greater sink of hooves on impact, combined with increased push-off during the propulsive phase, could explain the higher vertical displacements on the artificial track. Variations in distal limb mass associated with shoe-type may drive compensatory COM displacements to minimize the energetic cost of movement. The artificial surface and steel shoes provoked the least CC-axis movement of the jockey, so may promote greatest stability. However, differences between horse and jockey mean displacements indicated DV-axis and CC-axis offsets with compensatory increases and decreases, suggesting the dyad might operate within displacement limits to maintain stability. Further work is needed to relate COM displacements to hoof kinematics and to determine whether there is an optimum configuration of COM displacement to optimise performance and minimise injury.

Effect of Perineural Anesthesia on the Centre of Pressure (COP) Path During Stance Phase at Trot in Sound Horses

This study aimed to examine how short-term loss of proprioception in the equine foot influences the individual COP path during the stance phase of the trot in sound horses. Ten horses were evaluated to be objectively non-lame using the 'Equinosis Q System and subsequently examined using a portable pressure measuring system with pressure foils fixed directly underneath both front hooves prior to and after perineural anesthesia of the palmar digital nerves. The individual COP paths of both forelimbs was assessed prior to and after unilateral and bilateral abaxial sesamoid nerve blocks. COP from initial contact to mid stance and breakover as well as the inter-stride variability were descriptively evaluated for each horse and limb. The individual COP path for each horse and limb during stance was shown to be highly repeatable without significant inter-stride variability. Location of initial contact, COP during midstance and breakover are not affected by unilateral or bilateral short-term loss of sensory feedback from the foot after perineural anesthesia. Anesthesia of the foot with an abaxial sesamoid nerve block does not affect the foot's COP during stance at a trot, therefore, sudden changes in gait pattern after perineural anesthesia should be interpreted with caution and warrant further clinical investigation.

Equine hindlimb hoof biomechanics: an evaluation of the effect of routine hoof trimming on force and pressure distribution at midstance

Proper hoof function is vital for equine health and performance. Many musculoskeletal injuries in horses originate from the foot. Most studies performed to date have focused on the forehoof while the hindhoof (HH) has received less attention. Our goal was to examine the influence of routine hoof trimming on HH medio-lateral hoof balance. The objective of this study was to examine force (F), contact pressure (CP), and contact area (CA) at the medial and lateral aspects of the HH to evaluate the impact of routine hoof trimming on HH biomechanics. Clinically sound Arabian horses (n=9) were walked across a calibrated pressure plate before and after routine hoof trimming and the F, CP, and CA at the medial and lateral aspects of the HH were recorded at midstance pre- and post-trimming. The differences between these regions were investigated using a paired T-test. P-values <0.05 were considered significant. Among measured variables, force increased by 25% (P=0.007) and contact pressure increased by 13% (P=0.032) at the medial aspect of the HH after routine hoof trimming. Analysing data from hindlimb hoof-surface interaction in sound horses will allow for a better understanding of imbalances that may lead to pathologies and hindlimb lameness in horses.

Physics of animal health: on the mechano-biology of hoof growth and form

Global inequalities in economic access and agriculture productivity imply that a large number of developing countries rely on working equids for transport/agriculture/mining. Therefore, the understanding of hoof conditions/shape variations affecting equids' ability to work is still a persistent concern. To bridge this gap, using a multi-scale interdisciplinary approach, we provide a bio-physical model predicting the shape of equids' hooves as a function of physical and biological parameters. In particular, we show (i) where the hoof growth stress originates from, (ii) why the hoof growth rate is one order of magnitude higher than the proliferation rate of epithelial cells and (iii) how the soft-to-hard transformation of the epithelium is possible allowing the hoof to fulfil its function as a weight-bearing element. Finally (iv), we demonstrate that the reason for hoof misshaping is linked to the asymmetrical design of equids' feet (shorter quarters/long toe) together with the inability of the biological growth stress to compensate for such an asymmetry. Consequently, the hoof can adopt a dorsal curvature and become 'dished' overtime, which is a function of the animal's mass and the hoof growth rate. This approach allows us to discuss the potential occurrence of this multifaceted pathology in equids.

Center of pressure limb path differences for the detection of lameness in dogs: a preliminary study

Background

The limb center of pressure (COP) path measures and quantifies the load distribution within a limb in a still or moving subject. Under this premise, the aim of this study was to test whether data derived from this parameter could detect the differences between sound and lame limbs in unilaterally lame dogs with elbow dysplasia.

To accomplish this purpose, ten unilaterally lame dogs of similar conformation were walked over a pressure platform. Next, the COP path, in relation to the position of sound and lame limbs, was measured in a coordinate system over a standard paw template obtained by pedobarography during the whole support phase. To compare variables, force platform data (peak vertical force and vertical impulse) from the same animals were obtained. Sound and lame limb statokinesiograms were also obtained while the animals stood still.

Results

The statistical analysis clearly showed that COP in lame limbs start cranially and were shorter than sound limbs. In addition, the value of the COP excursion index was lower in lame limbs. Finally, the area of statokinesiograms was greater in lame limbs.

Conclusion

This methodology based in limb COP characteristics serves to discriminate between sound and lame limbs in dogs with elbow dysplasia.

Electronic supplementary material

The online version of this article (10.1186/s12917-019-1881-1) contains supplementary material, which is available to authorized users.

Effect of three types of horseshoes and unshod feet on selected non-podal forelimb kinematic variables measured by an extremity mounted inertial measurement unit sensor system in sound horses at the trot under conditions of treadmill and soft geotextile surface exercise

Therapeutic farriery is part of the management of certain orthopaedic conditions. Non-podal parameters are important as most horses shod with therapeutic shoes are expected to perform again and the choice of shoe type may be influenced by the effects they may have on gait. The aim of this prospective study was to evaluate the effects of three different shoe designs and unshod front feet on forelimb non-podal kinematic variables using an extremity mounted inertial measurement unit (IMU) system under conditions of treadmill and overground exercise on a soft geotextile surface at the trot. Ten sound horses with no underlying orthopaedic problem were instrumented with eight IMUs at distal radii, tibia and third metacarpal/tarsal regions. Measurements were performed during four consecutive days. During the first three days, the three shoe types were randomly selected per horse and day. On the fourth day, all horses were tested unshod. Data were collected at the trot on a treadmill, and on a soft geotextile surface. Specifically designed software and a proprietary algorithm processed the accelerometer and gyroscope signals to obtain orientation and temporal data to describe selected kinematic variables predetermined by the system. Repeated-measures analysis of variance (ANOVA) was used to assess differences between shoe type and surface. The presence of shoes produced significant changes in spatiotemporal variables which seemed to be related to shoe mass rather than shoe design as there were no significant differences found between different shoe types. Shod horses showed a gait characterised by an increased range of motion (ROM) of the fore limbs. Previously reported effects of the investigated shoes on podal kinematics do not seem to affect the investigated kinematic variables indicating perhaps a compensatory effect occurring at some level in the extremity.

The development of hoof balance and landing preference in the post-natal period

Background

Foals can follow the herd within hours of birth, but it has been shown that kinetic gait parameters and static balance still have to mature. However, development of dynamic balance has not been investigated.

Objectives

To objectively quantify landing and pressure pattern dynamics under the hoof during the first half year of life.

Study design

Prospective, cohort study performed at a single stud farm.

Methods

Pressure plate measurements at walk and trot from ten Dutch warmblood foals during the first 24 weeks of life were used to quantify toe‐heel and medial‐lateral hoof balance asymmetry indexes and to determine preferred landing strategy. Concurrently, radiographs of the tarsocrural and femoropatellar joints were taken at 4–6 weeks and after 6 months to check for osteochondrosis. A linear mixed model was used to determine the effects of time point, limb pair (front/hind), side (left/right) and osteochondrosis status of every foal.

Results

At 25% of stance duration at walk, front limbs were more loaded in the heel region in weeks 6–20 (P≤0.04), the medial‐lateral balance was more to the lateral side from week 6 onwards at both walk and trot (P≤0.04). Landing preference gradually changed in the same directions. Variability in pressure distribution decreased over time. (Subclinical) osteochondrosis did not influence any of the measured parameters.

Main limitations

This study is limited by the relatively small sample size only containing one breed from a single stud farm.

Conclusions

Dynamic hoof balance in new‐born foals is more variable and less oriented towards the lateral side of the hoof and to the heel than in mature horses. This pattern changes gradually during the first weeks of life. Knowledge of this process is essential for the clinician when considering interventions in this area in early life.

Does a 4-6 Week Shoeing Interval Promote Optimal Foot Balance in the Working Equine?

Simple Summary

Hoof shape is linked to an increased risk of lameness in the horse and has been shown to adapt to different loading patterns associated with the workload and shoeing interval length. This study investigated how different measurements of the hoof wall and the hoof pastern axis angle changed with work in riding school horses, across a four to six week shoeing/trimming interval. The dorsal hoof wall, and weight bearing and coronary band lengths reduced in size post-shoeing/trimming. This, combined with the increase to the inner and outside hoof wall heights on the digital images despite trimming, suggests that shoeing/trimming increased the vertical orientation of the hoof during the shoeing interval investigated. At the same time, increases in the dorsal hoof wall angle, heel angle, and heel height occurred, promoting a more correct dorsopalmar balance. The changes observed are consistent with the workload of the horses studied. The results suggest that a regular farriery interval of no more than six weeks could prevent excess loading of the structures within the hoof, reducing long term injury risks through cumulative, excessive loading in riding school horses.

Abstract

Variation in equine hoof conformation between farriery interventions lacks research, despite associations with distal limb injuries. This study aimed to determine linear and angular hoof variations pre- and post-farriery within a four to six week shoeing/trimming interval. Seventeen hoof and distal limb measurements were drawn from lateral and anterior digital photographs from 26 horses pre- and post-farriery. Most lateral view variables changed significantly. Reductions of the dorsal wall, and weight bearing and coronary band lengths resulted in an increased vertical orientation of the hoof. The increased dorsal hoof wall angle, heel angle, and heel height illustrated this further, improving dorsopalmar alignment. Mediolateral measurements of coronary band and weight bearing lengths reduced, whilst medial and lateral wall lengths from the 2D images increased, indicating an increased vertical hoof alignment. Additionally, dorsopalmar balance improved. However, the results demonstrated that a four to six week interval is sufficient for a palmer shift in the centre of pressure, increasing the loading on acutely inclined heels, altering DIP angulation, and increasing the load on susceptible structures (e.g., DDFT). Mediolateral variable asymmetries suit the lateral hoof landing and unrollment pattern of the foot during landing. The results support regular (four to six week) farriery intervals for the optimal prevention of excess loading of palmar limb structures, reducing long-term injury risks through cumulative, excessive loading.

A universal approach to determine footfall timings from kinematics of a single foot marker in hoofed animals

The study of animal movement commonly requires the segmentation of continuous data streams into individual strides. The use of forceplates and foot-mounted accelerometers readily allows the detection of the foot-on and foot-off events that define a stride. However, when relying on optical methods such as motion capture, there is lack of validated robust, universally applicable stride event detection methods. To date, no method has been validated for movement on a circle, while algorithms are commonly specific to front/hind limbs or gait. In this study, we aimed to develop and validate kinematic stride segmentation methods applicable to movement on straight line and circle at walk and trot, which exclusively rely on a single, dorsal hoof marker. The advantage of such marker placement is the robustness to marker loss and occlusion. Eight horses walked and trotted on a straight line and in a circle over an array of multiple forceplates. Kinetic events were detected based on the vertical force profile and used as the reference values. Kinematic events were detected based on displacement, velocity or acceleration signals of the dorsal hoof marker depending on the algorithm using (i) defined thresholds associated with derived movement signals and (ii) specific events in the derived movement signals. Method comparison was performed by calculating limits of agreement, accuracy, between-horse precision and within-horse precision based on differences between kinetic and kinematic event. In addition, we examined the effect of force thresholds ranging from 50 to 150 N on the timings of kinetic events. The two approaches resulted in very good and comparable performance: of the 3,074 processed footfall events, 95% of individual foot on and foot off events differed by no more than 26 ms from the kinetic event, with average accuracy between −11 and 10 ms and average within- and between horse precision ≤8 ms. While the event-based method may be less likely to suffer from scaling effects, on soft ground the threshold-based method may prove more valuable. While we found that use of velocity thresholds for foot on detection results in biased event estimates for the foot on the inside of the circle at trot, adjusting thresholds for this condition negated the effect. For the final four algorithms, we found no noteworthy bias between conditions or between front- and hind-foot timings. Different force thresholds in the range of 50 to 150 N had the greatest systematic effect on foot-off estimates in the hind limbs (up to on average 16 ms per condition), being greater than the effect on foot-on estimates or foot-off estimates in the forelimbs (up to on average ±7 ms per condition).

The foot-surface interaction and its impact on musculoskeletal adaptation and injury risk in the horse

The equine limb has evolved for efficient locomotion and high-speed performance, with adaptations of bone, tendon and muscle. However, the system lacks the ability seen in some species to dynamically adapt to different circumstances. The mechanical interaction of the limb and the ground is influenced by internal and external factors including fore-hind mass distribution, lead limb, moving on a curve, shoeing and surface properties. It is unclear which of the components of limb loading have the largest effect on injury and performance but peak load, impact and vibration all play a role. Factors related to the foot-ground interface that limit performance are poorly understood. Peak performance varies vastly between disciplines but at high speeds such as racing and polo, force and grip are key limits to performance.

Validation of a photogrammetric technique for computing equine hoof volume

Assessment of equine foot conformation is often based on linear and angular measurements performed on lateral digital photographs. However, quantification of external foot conformation requires more comprehensive assessments to capture the shape of the entire foot. Volumetric measurements of the hoof capsule represent a summary measure quantifying foot shape. The aim of this study was to develop a method for computation of virtual foot models from digital foot images allowing precise and accurate volumetric measurements. This photogrammetric technique was then assessed for the characterization of foot volume changes associated with foot trimming. Using the technique, three different photographers imaged feet from 18 cadavers at different time points and one analyst processed their images to generate virtual computer models. Volumetric measurements were obtained from these models to determine their precision in the context of 'Photographer', 'Time' and the effect of 'Trimming'. Computed tomographic (CT) imaging was used to assess the accuracy of the photogrammetric method. Pre-trim photogrammetric measurements showed excellent precision and accuracy and the results did not depend on the person acquiring the images. The accuracy of post-trim photogrammetric measurements deteriorated in comparison with the average differences measured by CT imaging (19 cm(3)). Precise volumetric measurements were obtained using the photogrammetric method, but average differences in foot volume after trimming as measured by CT imaging are likely too small to be detected with confidence.

Intraluminal thrombus and risk of rupture in patient specific abdominal aortic aneurysm - FSI modelling

Recent numerical studies of abdominal aortic aneurysm (AAA) suggest that intraluminal thrombus (ILT) may reduce the stress loading on the aneurysmal wall. Detailed fluid structure interaction (FSI) in the presence and absence of ILT may help predict AAA rupture risk better. Two patients, with varied AAA geometries and ILT structures, were studied and compared in detail. The patient specific 3D geometries were reconstructed from CT scans, and uncoupled FSI approach was applied. Complex flow trajectories within the AAA lumen indicated a viable mechanism for the formation and growth of the ILT. The resulting magnitude and location of the peak wall stresses was dependent on the shape of the AAA, and the ILT appeared to reduce wall stresses for both patients. Accordingly, the inclusion of ILT in stress analysis of AAA is of importance and would likely increase the accuracy of predicting AAA risk of rupture.

Tracking the motion of hidden segments using kinematic constraints and Kalman filtering

Motion capture for biomechanical applications involves in almost all cases sensors or markers that are applied to the skin of the body segments of interest. This paper deals with the problem of estimating the movement of connected skeletal segments from 3D position data of markers attached to the skin. The use of kinematic constraints has been shown previously to reduce the error in estimated segment movement that are due to skin and muscles moving with respect to the underlying segment. A kinematic constraint reduces the number of degrees of freedom between two articulating segments. Moreover, kinematic constraints can help reveal the movement of some segments when the 3D marker data otherwise are insufficient. Important cases include the human ankle complex and the phalangeal segments of the horse, where the movement of small segments is almost completely hidden from external observation by joint capsules and ligaments. This paper discusses the use of an extended Kalman filter for tracking a system of connected segments. The system is modeled using rigid segments connected by simplified joint models. The position and orientation of the mechanism are specified by a set of generalized coordinates corresponding to the mechanism's degrees of motion. The generalized coordinates together with their first time derivatives can be used as the state vector of a state space model governing the kinematics of the mechanism. The data collected are marker trajectories from skin-mounted markers, and the state vector is related to the position of the markers through a nonlinear function. The Jacobian of this function is derived. The practical use of the method is demonstrated on a model of the distal part of the limb of the horse. Monte Carlo simulations of marker data for a two-segment system connected by a joint with three degrees of freedom indicate that the proposed method gives significant improvement over a method, which does not make use of the joint constraint, but the method requires that the model is a good approximation of the true mechanism. Applying the method to data on the movement of the four distal-most segments of the horse's limb shows good between trial consistency and small differences between measured marker positions and marker positions predicted by the model.