A new method for motion capture of the scapula using an optoelectronic tracking device: a feasibility study

Optoelectronic tracking systems are rarely used in 3D studies examining shoulder movements including the scapula. Among the reasons is the important slippage of skin markers with respect to scapula. Methods using electromagnetic tracking devices are validated and frequently applied. Thus, the aim of this study was to develop a new method for in vivo optoelectronic scapular capture dealing with the accepted accuracy issues of validated methods.

Eleven arm positions in three anatomical planes were examined using five subjects in static mode. The method was based on local optimisation, and recalculation procedures were made using a set of five scapular surface markers.

The scapular rotations derived from the recalculation-based method yielded RMS errors comparable with the frequently used electromagnetic scapular methods (RMS up to 12.6° for 150° arm elevation). The results indicate that the present method can be used under careful considerations for 3D kinematical studies examining different shoulder movements.     

Measurement of Dynamic Scapular Kinematics Using an Acromion Marker Cluster to Minimize Skin Movement Artifact

The measurement of dynamic scapular kinematics is complex due to the sliding nature of the scapula beneath the skin surface. The aim of the study was to clearly describe the acromion marker cluster (AMC) method of determining scapular kinematics when using a passive marker motion capture system, with consideration for the sources of error which could affect the validity and reliability of measurements. The AMC method involves placing a cluster of markers over the posterior acromion, and through calibration of anatomical landmarks with respect to the marker cluster it is possible to obtain valid measurements of scapular kinematics. The reliability of the method was examined between two days in a group of 15 healthy individuals (aged 19-38 years, eight males) as they performed arm elevation, to 120°, and lowering in the frontal, scapular and sagittal planes. Results showed that between-day reliability was good for upward scapular rotation (Coefficient of Multiple Correlation; CMC = 0.92) and posterior tilt (CMC = 0.70) but fair for internal rotation (CMC = 0.53) during the arm elevation phase. The waveform error was lower for upward rotation (2.7° to 4.4°) and posterior tilt (1.3° to 2.8°), compared to internal rotation (5.4° to 7.3°). The reliability during the lowering phase was comparable to results observed during the elevation phase. If the protocol outlined in this study is adhered to, the AMC provides a reliable measurement of upward rotation and posterior tilt during the elevation and lowering phases of arm movement.     

Ratio between 3D glenohumeral and scapulothoracic motions in individuals without shoulder pain

This study determined the ratio between glenohumeral and three-dimensional scapular motion during arm elevation and lowering in 91 individuals without shoulder pain. Scapular kinematics were assessed using an electromagnetic tracking device. Individuals performed 3 repetitions of elevation and lowering of the arm in the sagittal plane. Two-way ANOVAs (interval: 30–60°, 60–90°, 90–120° x phase: elevation and lowering) and paired t-tests were used for data analysis. For scapular internal/external rotation, lesser scapular internal rotation contribution was found during the 60–90° interval as compared to the 90–60° interval. Lesser scapular external rotation was identified in the 60–30° interval of arm lowering. The ratio was greater during arm elevation (1.89) compared to lowering (1.74) across the entire motion arc. For scapular upward rotation, greater upward rotation contribution was observed during arm elevation at the 30–60° interval, and less scapular downward rotation contribution in the final range of arm lowering. For scapular tilt, lesser scapular posterior tilt contribution during arm elevation was observed compared to arm lowering. The ratios between glenohumeral elevation/lowering and each individual scapulothoracic motion showed either differences between intervals and/or between elevation and lowering during specific intervals in healthy individuals.     

Identification of scapular kinematics using surface mapping: a validation study

The immediate goal of this study was to develop and validate a noninvasive, computational surface mapping approach for measuring scapular kinematics by using available motion capture technology in an innovative manner. The long-term goal is to facilitate clinical determination of the role of the scapula in children with brachial plexus birth palsy (BPBP). The population for this study consisted of fourteen healthy adults with prominent scapulae. Subject-specific scapular templates were created using the coordinates of five scapular landmarks obtained from palpation with subjects seated and arms relaxed in a neutral position. The scapular landmarks were re-palpated and their locations recorded in the six arm positions of the modified Mallet classification. The six Mallet positions were repeated with approximately 300 markers covering the scapula. The markers formed a surface map covering the tissue over the scapula. The scapular template created in the neutral position was iteratively fit to the surface map of each trial, providing an estimate of the orientation of the scapula. These estimates of scapular orientation were compared to the known scapular orientation determined from the scapular landmarks palpated in each Mallet position. The magnitude of the largest mean difference about an anatomical axis between the two measures of scapular orientation was 3.8° with an RMS error of 5.9°. This technique is practical for populations with visibly prominent scapulae (e.g., BPBP patients), for which it is a viable alternative to existing clinical methods with comparable accuracy.     

Double calibration: an accurate, reliable and easy-to-use method for 3D scapular motion analysis

The most recent non-invasive methods for the recording of scapular motion are based on an acromion marker (AM) set and a single calibration (SC) of the scapula in a resting position. However, this method fails to accurately measure scapular kinematics above 90° of arm elevation, due to soft tissue artifacts of the skin and muscles covering the acromion. The aim of this study was to evaluate the accuracy, and inter-trial and inter-session repeatability of a double calibration method (DC) in comparison with SC. The SC and DC data were measured with an optoelectronic system during arm flexion and abduction at different angles of elevation (0-180°). They were compared with palpation of the scapula using a scapula locator. DC data was not significantly different from palpation for 5/6 axes of rotation tested (Y, X, and Z in abduction and flexion), where as SC showed significant differences for 5/6 axes. The root mean square errors ranged from 2.96° to 4.48° for DC and from 6° to 9.19° for SC. The inter-trial repeatability was good to excellent for SC and DC. The inter-session repeatability was moderate to excellent for SC and moderate to good for DC. Coupling AM and DC is an easy-to-use method, which yields accurate and reliable measurements of scapular kinematics for the complete range of arm motion. It can be applied to the measurement of shoulder motion in many fields (sports, orthopaedics, and rehabilitation), especially when large ranges of arm motion are required.     

Comparison of two trunk electromagnetic sensor placement methods during shoulder motion analysis

For kinematic studies of the shoulder, electromagnetic sensors are commonly placed on the humerus, scapula, and trunk. The trunk sensor is used to describe humeral and scapular kinematics with respect to the trunk. There are two common trunk sensor placements, the sternum or third thoracic vertebrae (T3). It is currently unclear if placement of the trunk sensor affects kinematics, making it difficult to compare data across studies. The purpose of this study was to compare two trunk sensor placements (T3 and sternum) on trunk and scapular kinematics during arm elevation. An electromagnetic tracking system was used to collect kinematic data during five consecutive repetitions of ascending and descending arm elevation in the sagittal plane. The results indicate that trunk sensor placement had no significant effect on trunk kinematics or scapular upward/downward rotation and internal/external rotation. Scapular anterior/posterior tilt was significantly greater when the trunk sensor was on the sternum compared to the T3 vertebrae during ascending 30°–120°: mean difference = −3.51° (95%CI: −5.61, −1.40), and descending 120°–30°: mean difference = −3.27° (95%CI: −6.07, −0.48). However, the difference in anterior/posterior tilt did not exceed the error (minimal detectable change), and thus is likely not a meaningful difference. These results indicate the trunk sensors can be affixed on T3 or the sternum, depending on the needs of the study.     

The utility of the acromion marker cluster (AMC) in a clinical population

IntroductionThe acromion marker cluster (AMC) is a non-invasive scapular motion tracking method. However, it lacks testing in clinical populations, where unique challenges may present. This investigation resolved the utility of the AMC approach in a compromised clinical population.MethodsThe upper body of breast cancer survivors (BCS) and controls were tracked via motion capture and scapular landmarks palpated and recorded using a digitizer at static neutral to maximum elevation postures. The AMC tracked the scapula during dynamic maximum arm abduction. Both single (SC) and double calibration (DC) methods were applied to calculate scapular angles. The influences of calibration method, elevation, and group on mean and absolute error with two-way fixed ANOVAs with interactions (p < 0.05). Root mean square errors (RMSE) were calculated and compared.ResultsDC improved AMC estimation of palpated scapular orientation over SC, especially at higher arm elevations; RMSE averaged 11° higher for SC than DC at maximum elevation, but the methods were only 2.2° different at 90° elevation. DC of the AMC yielded mean error values of ∼5–10°. These approximate errors reported for AMC with young, lean adults.ConclusionsThe AMC with DC is a non-invasive method with acceptable error for measuring scapular motion of BCS and age-matched controls.     

Scapular kinematics during unloaded and maximal loaded isokinetic concentric and eccentric shoulder flexion and extension movements

Characterization of scapular kinematics under demanding load conditions might aid to distinguish between physiological and clinically relevant alterations. Previous investigations focused only on submaximal external load situations. How scapular movement changes with maximal load remains unclear. Therefore, the present study aimed to evaluate 3D scapular kinematics during unloaded and maximal loaded shoulder flexion and extension. Twelve asymptomatic individuals performed shoulder flexion and extension movements under unloaded and maximal concentric and eccentric loaded isokinetic conditions. 3D scapular kinematics assessed with a motion capture system was analyzed for 20° intervals of humeral positions from 20° to 120° flexion. Repeated measures ANOVAs were used to evaluate kinematic differences between load conditions for scapular position angles, scapulohumeral rhythm and scapular motion extent. Increased scapular upward rotation was seen during shoulder flexion and extension as well as decreased posterior tilt and external rotation during eccentric and concentric arm descents of maximal loaded compared to unloaded conditions. Load effects were further seen for the scapulohumeral rhythm with greater scapular involvement at lower humeral positions and increased scapular motion extent under maximal loaded shoulder movements. With maximal load applied to the arm physiological scapular movement pattern are induced that may imply both impingement sparing and causing mechanisms.     

Skin-fixed scapula trackers: a comparison of two dynamic methods across a range of calibration positions

The aim of this study was to establish the optimal methodology for skin-fixed measurement of the scapula during dynamic movement. This was achieved by comparing an optimally positioned Scapula Tracker device (ST) to a previously described palpation device, taken as the true measure of scapular kinematics. These measurements were compared across a range of calibration positions, including the use of multiple calibration positions for a single movement, in order to establish an optimal calibration approach. Ten subjects' scapular motion was measured using this ST and a previously described Acromial Method (AM). The two datasets were compared at a standard, an optimal and a 'multiple' calibration position, thus allowing a direct comparison between two common skin-fixed methods to track the bony kinematics of the scapula across different calibration positions. A comparison was also made with a bone-fixed technique from the literature. At both the standard and optimal calibration positions the ST was shown to be the more accurate measure of internal rotation and posterior tilt, particularly above 100° of humerothoracic elevation. The ST errors were found to be acceptable in relation to clinically important levels. Calibration positions have been shown to have a significant effect on the errors of both skin-fixed measurement techniques and therefore the importance of correct calibration is highlighted. It has thus been shown that a ST can be used to accurately quantify scapular motion when appropriately calibrated for the range of motion being measured.     

Tracking the scapula using the scapula locator with and without feedback from pressure-sensors: A comparative study

BackgroundThe scapula locator method has associated intra-observer and inter-observer errors caused by the dependency on the observer to locate the scapular landmarks. The potential effect of the pressures applied by the observer on the measured scapular kinematics when this method is used has also been overlooked so far. The aim of this study was to investigate the effect of using feedback on the pressures applied on the scapula using the locator on the intra-observer and inter-observer reliabilities of the method as well as on the kinematics obtained using this method.MethodsThree observers tracked the scapular motion of the dominant shoulder of each subject using the locator with no reference to pressure-feedback for three trials of bilateral elevation in the scapular plane and using the locator with pressure-feedback for three other trials. Variations between the measurements obtained were used to calculate the intra-observer errors and variations between the measurements obtained by the three observers for the same subject were used to calculate inter-observer errors. Repeated-measures ANOVA tests were used to look at differences between the two methods in terms of intra-observer and inter-observer errors and scapular kinematics.FindingsUsing pressure-feedback reduced the intra-observer errors but had no effect on the inter-observer errors. Different scapular kinematics was measured using the two methods.InterpretationsPressure-feedback improves the reliability of the scapula locator method. Differences in the scapular kinematics suggest that unregulated pressures have an effect on the physiological scapular motion.     

Effects of trunk rotation on scapular kinematics and muscle activity during humeral elevation

Trunk rotation often accompanies humeral elevation, during daily activities as well as sports activities. Earlier studies have demonstrated that changes in spinal posture contribute to scapular motion during humeral elevation. However, the effect of trunk rotation on scapular kinematics during humeral elevation has received scant attention. This study aimed to clarify how trunk rotation affects scapular kinematics and muscle activities during humeral elevation. Electromagnetic motion capture and electromyography were used to assess scapular and clavicular motion and muscle activity in the right and left sides of 12 healthy young men. The subjects were seated and instructed to elevate both arms with the trunk in neutral, ipsilaterally rotated, or contralaterally rotated position. Ipsilaterally rotated trunk position decreased the internal rotation (by 5°, relative to neutral trunk position) and increased the upward rotation (by 4°, relative to neutral trunk position) of the scapula. Trunk position did not affect clavicular motion during humeral movement. Electromyography showed that contralaterally rotated trunk position increased the activity of the upper trapezius and serratus anterior muscles and decreased the activity of the lower trapezius. Therapists should consider the importance of trunk rotation, which may be the key to developing more efficient rehabilitation programs.     

Directional bias of soft-tissue artifacts on the acromion during recording of 3D scapular kinematics

Scapular kinematics during sports performances can be recorded using skin-mounted trackers attached to the skin overlying the acromion for continuous data collection without restricting natural motions of the subject relative to medical imaging analyses limiting its use for wide-range or high-speed motions. This study aimed to describe the existence of a directional bias in the translational and rotational errors of skin-mounted trackers using a 3D magnetic resonance imaging (3D-MRI) protocol. 3D-MRI scans of the healthy right shoulders of 19 males were acquired in 12 arm positions. The relative transformation of the scapular configuration determined to be the measurement error, as recorded by the configuration of the small cuboid imitating a skin-mounted tracker relative to the actual scapular configuration measured by the voxel-based registration. These measurement errors were expressed with either positive or negative values to describe the bias. Overall translational errors in the lateral, anterior, and superior directions were 3.7 ± 8.4 mm, 9.5 ± 6.4 mm, and 6.2 ± 4.6 mm, respectively. Overall rotational errors in protraction, upward rotation, and posterior tilt were 7.8 ± 8.4°, 0.2 ± 7.4°, and − 4.0 ± 7.5°, respectively. The skin-mounted tracker displayed a high probability of displacement in antero-superior (93% and 91%) directions and rotates in a protracting manner (82%) relative to the position of the underlying bone with the gradual nature of its change. The existence of the directional bias with its gradual change suggests a statistical predictability in measurement errors, which can be used to predict accurate scapular translation and rotation.     

Does the examiner's experience matter in evaluation of the kinematics of the upper limb?

This study aimed to evaluate test and retest reliability according to examiner experience with the three-dimensional kinematics of the trunk, scapula, and arm segments during flexion and unilateral abduction of the arm. Ten men and 10 women (mean age, 25.1 [1.1] years) participated in this study. Each volunteer participated in six test sessions, four on the first day (two for each examiner) and two on the second day (one for each examiner). A 48-h interval was given between test days. The assessments were made by one examiner with movement analysis experience and a second examiner without experience. For each session (intra-day), the volunteers performed five repetitions of unilateral arm flexions and abductions using their dominant arms. After 1 h, the data were re-collected and all markers were replaced. Data from the trunk, scapula, and arm were analysed at 30°, 60°, 90°, and 120° of arm flexion and abduction using intraclass coefficient correlation, standard error of the measurement, and analysis of variance. The results did not differ between the experienced and inexperienced examiners except for trunk axial rotation at all studied angles and for arm rotation at 120° of abduction. The examiner previously trained in movement analysis marker placement demonstrated the same intra-tester reliability as the inexperienced tester when marker placement accuracy was the variable of interest.     

Reliability and validity of measuring scapular upward rotation using an electrical inclinometer

The aim of this study was to assess the reliability and validity of a modified two-dimensional electrical inclinometer to measure scapular upward rotation during static humeral elevation. Numerous techniques have been proposed to qualitatively and quantitatively measure upward rotation of the scapula. These techniques are limited by expense or an inability to be synchronized with other measurements, such as muscle activity and force output. For validity testing, static scapular upward rotation was measured separately with a digital protractor and electrical inclinometer while participants were at rest and 60°, 90° and 120° of humeral elevation in the scapular plane. For reliability testing, either 20 min before or 20 min after validity testing, participants performed the testing positions while measurements were taken with the electrical inclinometer only. Significant correlations existed between the modified electrical inclinometer and digital protractor at all four positions (r>0.996, p<0.001). The electrical inclinometer demonstrated good to excellent intra-rater reliability (ICC(3,1)>0.892, 95%CI: 0.785-0.988 and SEM<1.8°). These results support the use of the electrical inclinometer to measure scapular upward rotation. These findings provide clinicians and researchers with a practical instrument that can accurately measure scapular upward rotation in synchrony with other measurements, such as electromyography and isokinetic data.     

Differences in scapular kinematics and scapulohumeral rhythm during elevation and lowering of the arm between typical children and healthy adults

Scapular kinematics in healthy adults is well described in the literature but little is known on typical children. This study aimed to compare the three-dimensional (3-D) scapular kinematics and scapulohumeral rhythm during the elevation and lowering of the arm in the scapular plane in typical children and healthy adults. Twenty-six healthy adults (35.34 ± 11.65 years, 1.70 ± 0.10 m, 70.00 ± 12.30 kg) and 33 typical children (9.12 ± 1.51 years, 1.40 ± 0.10 m, 35.40 ± 10.45 kg) participated in this study. 3-D scapular kinematics were obtained using an electromagnetic tracking device. The subjects were asked to elevate and lower their arm in the scapular plane. Children showed less scapular protraction compared to adults at 120° during arm elevation, more anterior tilt than adults in the elevation and also at 60°, 90° and 120° during lowering of the arm. Children also showed higher scapulohumeral rhythm during lowering of the arm compared to adults from 90° to 60°. It was also found a low to little correlation between scapular position and age. The study showed small but significant differences in scapular kinematics and scapulohumeral rhythm between children and adults. These results can help clinicians to improve diagnosis and treatment protocols directed to children with dysfunction, as reference values on scapular kinematics in healthy children are also provided in this study.     

Measurement of scapular kinematics with the moiré fringe projection technique

The aim of this study was to investigate the applicability of the moiré fringe projection technique (MFPT) to quantify the scapular motions relative to the thorax. This system was composed of a LCD projector, a digital photographic camera, and a microcomputer. To automatically obtain the scapular profiles, the phase shifting method was combined with the MFPT. Four fringes were projected on the scapula and four on the reference planes. By the simple subtraction of the reference values from the scapular phase maps, the map due to the moiré fringes could be digitally obtained. After the phase decoding, the tridimensional (3D) profiles were obtained without prior information about the samples and the calculations of the scapular kinematics were carried out using dedicated software. On average, the movements of lateral rotation ranged from ?1.8±6.1° to ?26.5±3.5°; the protraction from 28.4±4.7° to 27.7±6.8°, and the posterior tilt from ?6.4±7.8° to ?21.7±6.1°, during the arm elevation in the scapular plane performed by six healthy subjects. For the test–retest reliability, the intra-class correlation coefficients ranged from 0.92 to 0.997 and the maximum estimated error was 0.8%. The MFPT allowed the scapular 3D measurements to be obtained in a digital and non-invasive manner. The main advantages compared with other existing systems were its ease in implementation, the use of standard optical components, and its possible clinical applications.     

Comparison of glenohumeral joint kinematics between manual wheelchair tasks and implications on the subacromial space: A biplane fluoroscopy study

Scapula and humerus motion associated with common manual wheelchair tasks is hypothesized to reduce the subacromial space. However, previous work relied on either marker-based motion capture for kinematic measures, which is prone to skin-motion artifact; or ultrasound imaging for arthrokinematic measures, which are 2D and acquired in statically-held positions. The aim of this study was to use a fluoroscopy-based approach to accurately quantify glenohumeral kinematics during manual wheelchair use, and compare tasks for a subset of parameters theorized to be associated with mechanical impingement. Biplane images of the dominant shoulder were acquired during scapular plane elevation, propulsion, sideways lean, and weight-relief raise in ten manual wheelchair users with spinal cord injury. A computed tomography scan of the shoulder was obtained, and model-based tracking was used to quantify six-degree-of-freedom glenohumeral kinematics. Axial rotation and superior/inferior and anterior/posterior humeral head positions were characterized for full activity cycles and compared between tasks. The change in the subacromial space was also determined for the period of each task defined by maximal change in the aforementioned parameters. Propulsion, sideways lean, and weight-relief raise, but not scapular plane elevation, were marked by mean internal rotation (8.1°, 10.8°, 14.7°, −49.2° respectively). On average, the humeral head was most superiorly positioned during the weight-relief raise (1.6 ± 0.9 mm), but not significantly different from the sideways lean (0.8 ± 1.1 mm) (p = 0.191), and much of the task was characterized by inferior translation. Scaption was the only task without a defined period of superior translation on average. Pairwise comparisons revealed no significant differences between tasks for anterior/posterior position (task means range: 0.1–1.7 mm), but each task exhibited defined periods of anterior translation. There was not a consistent trend across tasks between internal rotation, superior translation, and anterior translation with reductions in the subacromial space. Further research is warranted to determine the likelihood of mechanical impingement during these tasks based on the measured task kinematics and reductions in the subacromial space.     

An alternative definition of the scapular coordinate system for use with RSA

When performing radiostereometric analysis (RSA), computed tomography scans are often taken to obtain the landmarks used to create anatomical coordinate systems (CSs) for quantifying joint kinematics. Different conventions for defining CSs lead to an inability to compare results among studies. The International Society of Biomechanics (ISB) has proposed a set of CSs; however, the landmarks needed to create the recommended scapular CS require the entire scapula to be scanned, thereby also exposing breast and other tissues to radiation. The main purpose of this work was to investigate an alternate definition of the CS that has repeatably attainable landmarks and axes as close as possible to those recommended by the ISB, while limiting the portion of the scapula requiring scanning. Intra- and inter-investigator variabilities of landmark digitization were quantified in one model of a scapula and one cadaveric specimen. Based on the variability of the digitizations, an alternative CS was defined. The differences between the ISB and alternative CSs were evaluated on 11 cadaveric specimens. Beaded biplanar RSA was performed on the glenohumeral joint model in 15 different configurations and the resulting kinematics were calculated for each set of landmark digitizations using both sets of coordinate systems. While the kinematic angles obtained using the alternative CS were statistically different from those obtained using the ISB standard, these differences were small (on the order of 5°) and therefore considered to be of little clinical significance. In all likelihood, the benefits of decreasing radiation exposure outweigh these differences in angles.