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

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

Individuals With an Anterior Cruciate Ligament-Reconstructed Knee Display Atypical Whole Body Movement Strategies but Normal Knee Robustness During Side-Hop Landings: A Finite Helical Axis Analysis

BACKGROUND

Atypical knee joint biomechanics after anterior cruciate ligament reconstruction (ACLR) are common. It is, however, unclear whether knee robustness (ability to tolerate perturbation and maintain joint configuration) and whole body movement strategies are compromised after ACLR.

PURPOSE

To investigate landing control after ACLR with regard to dynamic knee robustness and whole body movement strategies during sports-mimicking side hops, and to evaluate functional performance of hop tests and knee strength.

STUDY DESIGN

Controlled laboratory study.

METHODS

An 8-camera motion capture system and 2 synchronized force plates were used to calculate joint angles and moments during standardized rebound side-hop landings performed by 32 individuals with an ACL-reconstructed knee (ACLR group; median, 16.0 months after reconstruction with hamstring tendon graft [interquartile range, 35.2 months]) and 32 matched asymptomatic controls (CTRL). Dynamic knee robustness was quantified using a finite helical axis approach, providing discrete values quantifying divergence of knee joint movements from flexion-extension (higher relative frontal and/or transverse plane motion equaled lower robustness) during momentary helical rotation intervals of 10°. Multivariate analyses of movement strategies included trunk, hip, and knee angles at initial contact and during landing and hip and knee peak moments during landing, comparing ACLR and CTRL, as well as legs within groups.

RESULTS

Knee robustness was lower for the first 10° motion interval after initial contact and then successively stabilized for both groups and legs. When landing with the injured leg, the ACLR group, as compared with the contralateral leg and/or CTRL, demonstrated significantly greater flexion of the trunk, hip, and knee; greater hip flexion moment; less knee flexion moment; and smaller angle but greater moment of knee internal rotation. The ACLR group also had lower but acceptable hop and strength performances (ratios to noninjured leg >90%) except for knee flexion strength (12% deficit).

CONCLUSION

Knee robustness was not affected by ACLR during side-hop landings, but alterations in movement strategies were seen for the trunk, hip, and knee, as well as long-term deficits in knee flexion strength.

CLINICAL RELEVANCE

Knee robustness is lowest immediately after landing for both the ACLR group and the CTRL and should be targeted in training to reduce knee injury risk. Assessment of movement strategies during side-hop landings after ACLR should consider a whole body approach.

Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System

The motion of a rigid body can be represented by the instantaneous screw axis (ISA, also known as the helical axis). Recently, an invariant representation of motion based on the ISA, namely, the screw axis invariant descriptor (SAID), was proposed in the literature. The SAID consists of six scalar features that are independent from the coordinate system chosen to represent the motion. This method proved its usefulness in robotics; however, a high sensitivity to noise was observed. This paper aims to explore the performance of inertial sensors for the estimation of the ISA and the SAID for a simple experimental setup based on a hinge joint. The free swing motion of the mechanical hinge was concurrently recorded by a marker-based optoelectronic system (OS) and two magnetic inertial measurement units (MIMUs). The ISA estimated by the MIMU was more precise, while the OS was more accurate. The mean angular error was ≈2.2° for the OS and was ≈4.4° for the MIMU, while the mean standard deviation was ≈2.3° for the OS and was ≈0.2° for the MIMU. The SAID features based on angular velocity were better estimated by the MIMU, while the features based on translational velocity were better estimated by the OS. Therefore, a combination of both measurements systems is recommended to accurately estimate the complete SAID.

Influence of the windlass mechanism on arch-spring mechanics during dynamic foot arch deformation

The function of the human foot is described dichotomously as a compliant structure during mid-stance and a stiff lever during push-off. The arch-spring and the windlass mechanisms, respectively, describe each of these behaviours; however, their interaction has not been quantified to date. We hypothesized that by engaging the windlass mechanism with metatarsophalangeal joint (MTPJ) dorsiflexion, we would observe stiffening of the arch and reduced energy absorption and dissipation during dynamic compressions of the foot. Using a custom apparatus, the MTPJ angle was fixed at 30 degrees of plantarflexion, neutral or 30 degrees of dorsiflexion for nine participants, with the shank positioned similarly to the end of mid-stance. The arch was compressed at two speeds, with the faster speed comparable to walking around 1.5 m s^-1 Six cameras captured the compression and elongation of the arch, along with other kinematic variables, synchronously with the ground reaction force. Combining these measures, we computed the energy absorbed, returned and dissipated in the arch. Contrary to our hypothesis, when the windlass mechanism was engaged, the arch elongated more, and absorbed and dissipated more energy than when it was not engaged. This engagement of the windlass altered the rotational axis of the mid-foot, which probably oriented the arch-spanning structures closer to their resting length, increasing their compliance. This study provides novel evidence for an interplay between the windlass and arch-spring mechanisms that aids in regulation of energy storage within the foot.

Three-Dimensional in Vivo Kinematics of the Shoulder during Humeral Elevation

Shoulder kinematics, including scapular rotation relative to the trunk and humeral rotation relative to the scapula, were examined during humeral elevation in three vertical planes via video analysis of intracortical pins. Helical axis parameters provided an easily interpretable description of shoulder motion not subject to the limitations associated with Cardan/Euler angles. Between 30 and 150° of elevation in each plane, the scapula rotated almost solely about an axis perpendicular to the scapula. Additional scapular rotation appeared to support the notion that the scapula moves "toward" the plane of elevation. Humeral rotation took place mainly in the plane of the scapula independent of the plane of elevation. Many parameters of shoulder complex kinematics were quite similar across all planes of elevation, suggesting a consistent movement pattern with subtle differences associated with the plane of elevation.

Changes in the functional flexion axis of the knee before and after total knee arthroplasty using a navigation system

Long term satisfaction of patients with total knee arthroplasty (TKA) has lagged behind that of total hip arthroplasty. One possible reason is the failure of the artificial joint to recreate natural kinematics of the knee. This study evaluated the pre and post implant functional flexion axis in the knees of 285 total knee arthroplasty patients using a surgical navigation system. Results showed that post-implant there was less femoral rollback early in flexion on the lateral side of the joint than pre-implant. Designing future generations of knee implants to allow for this motion may give patients a more 'natural' feeling knee and may benefit outcomes.

Finite helical axes of motion are a useful tool to describe the three-dimensional in vitro kinematics of the intact, injured and stabilised spine

The finite helical-axes method can be used to describe the three-dimensional in vitro kinematics of the spine. However, this method still suffers from large stochastic calculation errors and poorly conceived visualisation techniques. The aim of the present study, therefore, was to improve the currently used finite helical axes description, by use of a less error-prone calculation algorithm and a new visualisation technique, and to apply this improved method to the study of the three-dimensional in vitro kinematics of the spine. Three-dimensional, continuous motion data of spinal motion segments were used to calculate the position and orientation of the finite helical axes (FHAs). The axes were then projected on plane antero-posterior, lateral and axial radiographs in order to depict the relation to the anatomy of each individual specimen. A hinge joint was used to estimate the measurement error of data collection and axes calculation. In an exemplary in vitro experiment, this method was used to demonstrate the ability of a prosthetic disc nucleus to restore the three-dimensional motion pattern of lumbar motion segments. In the validation experiment with the hinge joint, the calculated FHAs were lying within +/-2.5 mm of the actual joint axis and were inclined relative to this axis at up to +/-1.5 degrees . In the exemplary in vitro experiment, the position and orientation of the FHAs of the intact specimens were subject to large inter-individual differences in all loading directions. Nucleotomy of the lumbar segments caused the axes to spread out, indicating complex coupled motions. The implantation of the prosthetic disc nucleus, for the most part, more than reversed this effect: the axes became oriented almost parallel to each other. The experiments showed that the present improved description of finite helical axes is a valid and useful tool to characterise the three-dimensional in vitro kinematics of the intact, injured and stabilised spine. The main advantage of this new method is the comprehensive visualisation of joint function with respect to the individual anatomy.

Kinematic response of lumbar functional spinal units to axial torsion with and without superimposed compression and flexion/extension

Experimental data suggest that lumbar torsion contributes to lumbar disc degenerative changes, such as instability, spondylolisthesis and spinal canal stenosis. However, some basic mechanical characteristics of the lumbar spine under torsional loading have not yet been reported in detail. For example, the function of the facet joints under combined mechanical loads such as torsion with superimposed flexion or extension postures is an area of interest about which little biomechanical data have been reported. In this study, the kinematic response to axial torsion with superimposed axial compression (200 N), compression-flexion (3 and 6 Nm) and compression-extension (3 and 6 Nm) was investigated in 10 cadaveric lumbar functional spinal units. Range of motion (ROM), and helical axes of motion (HAM), were analyzed. There was no difference in ROM between no preload, pure compressive and flexion-compression preload conditions. The ROM was significantly reduced by both extension-compression preload conditions (11% reduction for 3 Nm and 19% reduction for 6 Nm of extension) compared to the pure compressive preload. For no preload, the average HAM position in the transverse plane of the intervertebral disc was near the posteriormost part of the disc and located laterally on the side contralateral to the applied torsional moment. In the transverse plane, the HAM position showed a discrete trend towards the posterior part of the specimens during extension. Kinematic data were visualized using computer animation techniques and CT-based reconstructions of the respective specimens. This information may be used for identifying and characterizing physiologic and pathologic motion and for specifying conservative and surgical treatment concepts and, thus, may find application to identifying indications for spinal fusion or in evaluating the effect of future semi-flexible instrumentation.