System and modelling errors in motion analysis: implications for the measurement of the elbow angle in cricket bowling

The system and modelling errors of two fundamentally different motion capture systems (opto-reflective vs. video-based) were tested under various conditions, to determine their ability to accurately measure flexion-extension of the elbow angle in cricket bowling. A mechanical arm was used for all testing, that enabled known elbow flexion-extension and abduction ("carry") angles to be manually set. The root mean squared (RMS) error of 0.6 degrees for the opto-reflective system (Vicon-612) was more accurate in reconstructing a known angle than the video-based system (Peak Motus) (RMS error 2.3 degrees ) in the laboratory, when the same mathematical procedure (model) was applied to calculate the elbow flexion-extension angle. When different models were applied to the raw marker trajectories collected using the video-based system, RMS was lowest for the external marker segmental cluster models (2.3 degrees ) compared with 9.4 degrees for the vector and 4.5 degrees for the projected vector approaches, where joint centres were visually approximated. Real world, field-based comparisons using the video-based system showed that occluding the arm and therefore the shoulder, elbow and wrist joint centre locations by placing a shirt on the arm, increased RMS error for both vector (7.8 degrees -9.0 degrees ) and projected vector (4.3 degrees -5.1 degrees ) modelling approaches.     

Simultaneous measurement of three-dimensional joint kinematics and ligament strains with optical methods

The objective of this study was to assess the precision and accuracy of a nonproprietary, optical three-dimensional (3D) motion analysis system for the simultaneous measurement of soft tissue strains and joint kinematics. The system consisted of two high-resolution digital cameras and software for calculating the 3D coordinates of contrast markers. System precision was assessed by examining the variation in the coordinates of static markers over time. Three-dimensional strain measurement accuracy was assessed by moving contrast markers fixed distances in the field of view and calculating the error in predicted strain. Three-dimensional accuracy for kinematic measurements was assessed by simulating the measurements that are required for recording knee kinematics. The field of view (190 mm) was chosen to allow simultaneous recording of markers for soft tissue strain measurement and knee joint kinematics. Average system precision was between +/-0.004 mm and +/-0.035 mm, depending on marker size and camera angle. Absolute error in strain measurement varied from a minimum of +/-0.025% to a maximum of +/-0.142%, depending on the angle between cameras and the direction of strain with respect to the camera axes. Kinematic accuracy for translations was between +/-0.008 mm and +/-0.034 mm, while rotational accuracy was +/-0.082 deg to +/-0.160 deg. These results demonstrate that simultaneous optical measurement of 3D soft tissue strain and 3D joint kinematics can be performed while achieving excellent accuracy for both sets of measurements.     

Direct comparison of kinematic data collected using an electromagnetic tracking system versus a digital optical system

The purpose of this study was to quantify the dynamic accuracy of kinematics measured by a digital optical motion analysis system in a gait analysis laboratory (capture volume approximately 20m(3)) compared to a standard range direct-current electromagnetic (EM) tracking device (capture volume approximately 1m(3)). This is a subset of a larger effort to establish an appropriate marker set for the optical system to quantify upperlimb kinematics simultaneously with gait, in comparison to previous studies of isolated upperlimb movements that have employed EM tracking devices. Rigid clusters of spherical reflective markers and EM sensors were attached to a mechanical articulator that mimicked three-dimensional joint rotations, similar to the elbow. As the articulator was moved through known ranges of motion (i.e. gold standard), kinematic data were collected simultaneously using both tracking systems. Both systems were tended to underestimate the range of motion; however, the application of post hoc smoothing and least-squares correction algorithms reduced these effects. When smoothing and correction algorithms were used, the magnitude of the mean difference between the gold standard and either the EM or optical system did not exceed 2 degrees for any of the compound motions performed. This level of agreement suggests that the measurements obtained from either system are clinically comparable, provided appropriate smoothing and correction algorithms are employed.     

A low-cost instrumented spatial linkage accurately determines ASIS position during cycle ergometry

The purpose of this study was to develop and evaluate an alternative method for determining the position of the anterior superior iliac spine (ASIS) during cycling. The approach used in this study employed an instrumented spatial linkage (ISL) system to determine the position of the ASIS in the parasagittal plane. A two-segment ISL constructed using aluminum segments, bearings, and digital encoders was tested statically against a calibration plate and dynamically against a video-based motion capture system. Four well-trained cyclists provided data at three pedaling rates. Statically, the ISL had a mean horizontal error of 0.03 +/- 0.21 mm and a mean vertical error of -0.13 +/- 0.59 mm. Compared with the video-based motion capture system, the agreement of the location of the ASIS had a mean error of 0.30 +/- 0.55 mm for the horizontal dimension and -0.27 +/- 0.60 mm for the vertical dimension. The ISL system is a cost-effective, accurate, and valid measure for two-dimensional kinematic data within a range of motion typical for cycling.     

A novel validation and calibration method for motion capture systems based on micro-triangulation

Motion capture systems are widely used to measure human kinematics. Nevertheless, users must consider system errors when evaluating their results. Most validation techniques for these systems are based on relative distance and displacement measurements. In contrast, our study aimed to analyse the absolute volume accuracy of optical motion capture systems by means of engineering surveying reference measurement of the marker coordinates (uncertainty: 0.75 mm). The method is exemplified on an 18 camera OptiTrack Flex13 motion capture system. The absolute accuracy was defined by the root mean square error (RMSE) between the coordinates measured by the camera system and by engineering surveying (micro-triangulation). The original RMSE of 1.82 mm due to scaling error was managed to be reduced to 0.77 mm while the correlation of errors to their distance from the origin reduced from 0.855 to 0.209. A simply feasible but less accurate absolute accuracy compensation method using tape measure on large distances was also tested, which resulted in similar scaling compensation compared to the surveying method or direct wand size compensation by a high precision 3D scanner. The presented validation methods can be less precise in some respects as compared to previous techniques, but they address an error type, which has not been and cannot be studied with the previous validation methods.     

Feasibility of using a video-based motion analysis system for measuring thumb kinematics

While several different methods have been used to measure hand kinematics, fluoroscopy is generally considered to be the most accurate. Recently, video-based motion analysis has been developed for the measurement of joint kinematics. This method is versatile, easy to use, and can measure motions dynamically. Surface markers are most commonly used in the video-based motion systems. However, whether the surface markers placed on the thumb accurately represent the true kinematics of the underlying bony segment is questionable.In this study, the feasibility of surface markers to represent thumb kinematics was investigated by fluoroscopy. Both the positions of surface markers and bony landmarks were simultaneous recorded and then digitized. The Ra(2) values comparing the angular changes of the thumb interphalangeal, metacarpal and carpometacarpal joints derived using the surface markers or bony landmarks were 0.9986, 0.9730 and 0.9186 in the flexion/extension plane respectively, 0.8837, 0.9697 and 0.8775 in the abduction/adduction plane; and 0.9884, 0.9643 and 0.9431 in the opposition plane. The ranges, mean and standard deviation of the absolute differences between calculated angles of different marker sets were also compared. These data revealed that the similarities of the two different marker techniques throughout the motion cycle were high. The differences between the two methods were also within clinically allowable range of +/-5 degrees. It is concluded that the application of the video-based motion analysis system with surface markers to thumb kinematics is warranted.     

Accuracy map of an optical motion capture system with 42 or 21 cameras in a large measurement volume

Optical motion capture is commonly used in biomechanics to measure human kinematics. However, no studies have yet examined the accuracy of optical motion capture in a large capture volume (>100 m³), or how accuracy varies from the center to the extreme edges of the capture volume. This study measured the dynamic 3D errors of an optical motion capture system composed of 42 OptiTrack Prime 41 cameras (capture volume of 135 m³) by comparing the motion of a single marker to the motion reported by a ThorLabs linear motion stage. After spline interpolating the data, it was found that 97% of the capture area had error below 200 μm. When the same analysis was performed using only half (21) of the cameras, 91% of the capture area was below 200 μm of error. The only locations that exceeded this threshold were at the extreme edges of the capture area, and no location had a mean error exceeding 1 mm. When measuring human kinematics with skin-mounted markers, uncertainty of marker placement relative to underlying skeletal features and soft tissue artifact produce errors that are orders of magnitude larger than the errors attributed to the camera system itself. Therefore, the accuracy of this OptiTrack optical motion capture system was found to be more than sufficient for measuring full-body human kinematics with skin-mounted markers in a large capture volume (>100 m³).     

Accuracy of an optical active-marker system to track the relative motion of rigid bodies

The measurement of relative motion between two moving bones is commonly accomplished for in vitro studies by attaching to each bone a series of either passive or active markers in a fixed orientation to create a rigid body (RB). This work determined the accuracy of motion between two RBs using an Optotrak optical motion capture system with active infrared LEDs. The stationary noise in the system was quantified by recording the apparent change in position with the RBs stationary and found to be 0.04 degrees and 0.03 mm. Incremental 10 degrees rotations and 10-mm translations were made using a more precise tool than the Optotrak. Increasing camera distance decreased the precision or increased the range of values observed for a set motion and increased the error in rotation or bias between the measured and actual rotation. The relative positions of the RBs with respect to the camera-viewing plane had a minimal effect on the kinematics and, therefore, for a given distance in the volume less than or close to the precalibrated camera distance, any motion was similarly reliable. For a typical operating set-up, a 10 degrees rotation showed a bias of 0.05 degrees and a 95% repeatability limit of 0.67 degrees. A 10-mm translation showed a bias of 0.03 mm and a 95% repeatability limit of 0.29 mm. To achieve a high level of accuracy it is important to keep the distance between the cameras and the markers near the distance the cameras are focused to during calibration.     

Static accuracy analysis of Vicon T40s motion capture cameras arranged externally for motion capture in constrained aquatic environments

While the capabilities of land-based motion capture systems in biomechanical applications have been previously reported, the possibility of using motion tracking systems externally to reconstruct markers submerged inside an aquatic environment has been under explored. This study assesses the ability of a motion capture system (Vicon T40s) arranged externally to track a retro-reflective marker inside a glass tank filled with water and without water. The reflective tape used for marker creation in this study was of Safety of Life at Sea (SOLAS) grade as the conventional marker loses its reflective properties when submerged. The overall trueness calculated based on the mean marker distance errors, varied between 0.257 mm and 0.290 mm in different mediums (air, glass and water). The overall precision calculated based on mean standard deviation of mean marker distances at different locations varied between 0.046 mm and 0.360 mm in different mediums. Our results suggest, that there is no significant influence of the presence of water on the overall static accuracy of the marker center distances when markers were made of SOLAS grade reflective tape. Using optical motion tracking systems for evaluating locomotion in aquatic environment can help to better understand the effects of aquatic therapy in clinical rehabilitation, especially in scenarios that involve equipment, such as an underwater treadmill which generally have constrained capture volumes for motion capture.     

The Marking Technology in Motion Capture for the Complex Locomotor Behavior of Flexible Small Animals(Gekko gecko)

Animals have evolved a variety of behavior patterns to adapt to the environment. Motion-capture technology is utilized to quantify and characterize locomotor behaviors to reveal the mechanisms of animal motion. In the capture of flexible, small animals with complex locomotor behaviors, the markers interfere with each other easily, and the motion forms(bending, twisting) of the moving parts are obviously different; thus, it is a great challenge to realize accurate quantitative characterization of complex locomotor behaviors. The correlation between the marker properties, including the size and space length, and the precision of the system are revealed in this paper, and the effects of diverse marker shapes on the capturing accuracy of the captured objects in different motion forms were tested. Results showed that the precision of system is significantly improved when the ratio of the space length to the diameter of the markers is larger than four; for the capture of the spatial twisting motion of the flexible object, the hexagon markers had the lowest spatial lost-marker rate relative to the circle, triangle, and square. Customized markers were used to capture the locomotor behavior of the gecko-inspired robot(rigid connection) and the gecko(flexible connection). The results showed that this marking technology can achieve high accuracy of motion capture for geckos(the average deviation was approximately 0.32 mm, and the average deviation's variation rate was approximately 0.96%). In this paper, the marking technology for the motion capture of flexible, small animals with complex motion is proposed; it can effectively improve the system precision as well as the capture accuracy, and realize the quantitative characterization of the complex motion of flexible, small objects. It provides a reliable technical means to deeply study the evolution of the motion function of small animals and advance systematic research of motion-capture technology.     

Accuracy and repeatability of an optical motion analysis system for measuring small deformations of biological tissues

Optical motion analysis techniques have been widely used in biomechanics for measuring large-scale motions such as gait, but have not yet been significantly explored for measuring smaller movements such as the tooth displacements under load. In principle, very accurate measurements could be possible and this could provide a valuable tool in many engineering applications. The aim of this study was to evaluate accuracy and repeatability of the Qualisys ProReflex-MCU120 system when measuring small displacements, as a step towards measuring tooth displacements to characterise the properties of the periodontal ligament. Accuracy and repeatability of the system was evaluated using a wedge comparator with a resolution of 0.25 microm to provide measured marker displacements in three orthogonal directions. The marker was moved in ten steps in each direction, for each of seven step sizes (0.5, 1, 2, 3, 5, 10, and 20 microm), repeated five times. Spherical and diamond markers were tested. The system accuracy (i.e. percentage of maximum absolute error in range/measurement range), in the 20-200 microm ranges, was +/-1.17%, +/-1.67% and +/-1.31% for the diamond marker in x, y and z directions, while the system accuracy for the spherical marker was +/-1.81%, +/-2.37% and +/-1.39%. The system repeatability (i.e. maximum standard deviation in the measurement range) measured under the different days, light intensity and temperatures for five times, carried out step up and then step down measurements for the same step size, was +/-1.7, +/-2.3 and +/-1.9 microm for the diamond marker, and +/-2.6, +/-3.9 and +/-1.9 microm for the spherical marker in x, y and z directions, respectively. These results demonstrate that the system suffices accuracy for measuring tooth displacements and could potentially be useful in many other applications.     

Kinematical models to reduce the effect of skin artifacts on marker-based human motion estimation

The estimation of the skeletal motion obtained from marker-based motion capture systems is known to be affected by significant bias caused by skin movement artifacts, which affects joint center and rotation axis estimation. Among different techniques proposed in the literature, that based on rigid body model, still the most used by commercial motion capture systems, can smooth only part of the above effects without eliminating their main components. In order to sensibly improve the accuracy of the motion estimation, a novel technique, named local motion estimation (LME), is proposed. This rests on a recently described approach that, using virtual humans and extended Kalman filters, estimates the kinematical variables directly from 2D measurements without requiring the 3D marker reconstruction. In this paper, we show how such method can be extended to include the computation of the local marker displacement due to skin artifacts. The 3D marker coordinates, expressed in the corresponding local reference coordinate frames, are inserted into the state vector of the filter and their dynamics is automatically estimated, with adequate accuracy, without assuming any particular deformation function. Simulated experiments of lower limb motion, involving systematic mislocations (5, 10, 20 mm) and random errors of the marker coordinates and joint center locations (+/-5, +/-10, +/-15 mm), have shown that artifact motion can be substantially decoupled from the global skeletal motion with an effective increase of the accuracy wrt standard techniques. In particular, the comparison between the nominal kinematical variables and the one recovered from markers attached to the skin surface proved LME to be sensibly superior (50% in the worse condition) to the methods imposing marker-bone rigidity. In conclusion, while requiring further validation on real movement data, we argue that the proposed method can constitute an appropriate approach toward the improvement of the human motion estimation.     

Assessment of screw displacement axis accuracy and repeatability for joint kinematic description using an electromagnetic tracking device

Screw displacement axes (SDAs) have been employed to describe joint kinematics in biomechanical studies. Previous reports have investigated the accuracy of SDAs combining various motion analysis techniques and smoothing procedures. To our knowledge, no study has assessed SDA accuracy describing the relative movement between adjacent bodies with an electromagnetic tracking system. This is important, since in relative motion, neither body is fixed and consequently sensitivity to potential measurement errors from both bodies may be significant. Therefore, this study assessed the accuracy of SDAs for describing relative motion between two moving bodies. We analyzed numerical simulated data, and physical experimental data recorded using a precision jig and electromagnetic tracking device. The numerical simulations demonstrated SDA position accuracy (p=0.04) was superior for single compared to relative body motion, whereas orientation accuracy (p=0.2) was similar. Experimental data showed data-filtering (Butterworth filter) improved SDA position and orientation accuracies for rotation magnitudes smaller or equal to 5.0 degrees, with no effect at larger rotation magnitudes (p<0.05). This suggests that in absence of a filter, SDAs should only be calculated at rotations of greater than 5.0 degrees. For rotation magnitudes of 0.5 degrees (5.0 degrees ) about the SDA, SDA position and orientation error measurements determined from filtered experimental data were 3.75+/-0.30 mm (3.31+/-0.21 mm), and 1.10+/-0.04 degrees (1.04+/-0.03 degrees ), respectively. Experimental accuracy values describing the translation along and rotation about the SDA, were 0.06+/-0.00 mm and 0.09+/-0.01 degrees, respectively. These small errors establish the capability of SDAs to detect small translations, and rotations. In conclusion, application of SDAs should be a useful tool for describing relative motion in joint kinematic studies.     

Quality assessment of confocal microscopy slide based systems: performance.

BACKGROUND: All fluorescence slide-based cytometry detections systems basically include the following components: (1) an excitation light source, (2) intermediate optics, and (3) a detection device consisting of a CCD camera or a PMT. The optical principles employed is slide-based systems are similar to those of confocal microscopes (CLSM). METHODS: The following tests evaluated confocal equipment performance: dichroic reflectivity, field illumination, lens performance, laser power output, spectral registration, axial resolution, PMT reliability, and system noise. RESULTS: Quality assurance tests provide a basis to determine if the equipment is operating correctly. Laser power, PMTs function, dichroic reflection, spectral registration, axial registration, system noise and sensitivity, lens performance and laser stability were tested colocalization of UV and visible peaks of a bead should be less than 210 nm. Interference contrast optics decrease fluorescence resolution. CONCLUSIONS: QA tests that assess CLSM system performance are also applicable to other slide-based systems. By utilization this type of testing approach, the subjective nature of assessing the CLSM may be eliminated. These tests serve as guidelines for other investigators to ensure that their machines are providing data that is accurate with the necessary resolution, sensitivity and precision.     

Measurement and Correction of Microscopic Head Motion during Magnetic Resonance Imaging of the Brain

Magnetic resonance imaging (MRI) is a widely used method for non-invasive study of the structure and function of the human brain. Increasing magnetic field strengths enable higher resolution imaging; however, long scan times and high motion sensitivity mean that image quality is often limited by the involuntary motion of the subject. Prospective motion correction is a technique that addresses this problem by tracking head motion and continuously updating the imaging pulse sequence, locking the imaging volume position and orientation relative to the moving brain. The accuracy and precision of current MR-compatible tracking systems and navigator methods allows the quantification and correction of large-scale motion, but not the correction of very small involuntary movements in six degrees of freedom. In this work, we present an MR-compatible tracking system comprising a single camera and a single 15 mm marker that provides tracking precision in the order of 10 m and 0.01 degrees. We show preliminary results, which indicate that when used for prospective motion correction, the system enables improvement in image quality at both 3 T and 7 T, even in experienced and cooperative subjects trained to remain motionless during imaging. We also report direct observation and quantification of the mechanical ballistocardiogram (BCG) during simultaneous MR imaging. This is particularly apparent in the head-feet direction, with a peak-to-peak displacement of 140 m.     

A comparison of calibration methods for stereo fluoroscopic imaging systems

Stereo (biplane) fluoroscopic imaging systems are considered the most accurate and precise systems to study joint kinematics in vivo. Calibration of a biplane fluoroscopy system consists of three steps: (1) correction for spatial image distortion; (2) calculation of the focus position; and (3) calculation of the relative position and orientation of the two fluoroscopy systems with respect to each other. In this study we compared 6 methods for calibrating a biplane fluoroscopy system including a new method using a novel nested-optimization technique. To quantify bias and precision, an electronic digital caliper instrumented with two tantalum markers on radiolucent posts was imaged in three configurations, and for each configuration placed in ten static poses distributed throughout the viewing volume. Bias and precision were calculated as the mean and standard deviation of the displacement of the markers measured between the three caliper configurations. The data demonstrated that it is essential to correct for image distortion when sub-millimeter accuracy is required. We recommend calibrating a stereo fluoroscopic imaging system using an accurately machined plate and a calibration cube, which improved accuracy 2-3 times compared to the other calibration methods. Once image distortion is properly corrected, the focus position should be determined using the Direct Linear Transformation (DLT) method for its increased speed and equivalent accuracy compared to the novel nested-optimization method. The DLT method also automatically provides the 3D fluoroscopy configuration. Using the recommended calibration methodology, bias and precision of 0.09 and 0.05 mm or better can be expected for measuring inter-marker distances.     

Calibration of position and angular data from a magnetic tracking device

This paper describes a method for calibrating data from a magnetic tracking device. Position and orientation data were collected in a 1. 6x0.8x1.4m(3) volume using a Polhemus Fastrak((R)) in conjunction with both a long-range and standard transmitter. Position and orientation data were calibrated using a locally linear model based on the position of the measurement. After calibration, the average position and angular errors were less than 1.8cm and 1.2 degrees up to 1.8m from the transmitter for the long-range transmitter. For the standard transmitter, even after calibration, errors increased sharply when the sensor was more than 1.2m from the transmitter. Up to that distance, post-calibration errors were less than 1.2cm and 1. 2 degrees, while up to 1.8m they were below 5cm and 4 degrees. These errors could be further reduced by noise filtering. However, use of the standard transmitter is not recommended at distance greater than 1.2m due to orientation-based effects. It was concluded that for the volume investigated, tracking devices could provide similar three-dimensional accuracy to video systems.     

'Yellow lens' eyes of a stomiatoid deep-sea fish, Malacosteus niger

Bright yellow lenses were found in the eyes of the stomiatoid deep-sea fish, Malacosteus niger Ayres. The optical properties of the yellow lens and the retinal specializations in the eyes were examined. Absorption spectra of the yellow lens revealed two peaks at wavelengths 425 and 460 nm. The photoreceptors were all rods and were arranged in two superimposed layers. An astaxanthin-type retinal tapetum was observed in the pigment epithelium. Some chemical evidence is presented showing that the tapetal material is an astaxanthin ester. The ecological significance of the yellow lens is discussed in connection with that of Malacosteus' orbital light organ which has a reddish filter.     

A sensitive HPLC-MS-MS method for the determination of raltegravir in human plasma

This work describes an assay system that has been developed to quantify raltegravir concentrations in human plasma using a liquid-liquid extraction technique paired with HPLC separation and MS-MS detection. The dynamic range of this assay extends from 1 to 3000 ng/mL, with a coefficient of determination (r(2), mean+/-SD) of 0.9992+/-0.0002. The mean precision values for calibration standards ranged from 0.6% to 3.0%, while accuracy values were 96.5-104.3%. This procedure is an accurate, precise, and sensitive method for raltegravir quantitation and was successfully validated using external proficiency testing.     

A television/computer three-dimensional surface shape measurement system

An optical scanner is described which has been designed primarily for the measurement of human back shape. A projector and television camera were mounted together in a box which could rotate about a horizontal axis. The projector shone a horizontal plane of light, which was viewed at an angle from below by the television camera, linked directly to a minicomputer. The shape of the line of light formed by the plane as it fell on an object, together with a knowledge of the geometry of the system, enabled three-dimensional coordinates of points on the line to be calculated. A record of a surface shape was built up by scanning the object in about 2 s. Calibration of the system was achieved by scanning an object of known dimensions. Sets of algorithms are described which derive geometric parameters from the calibration scan and which sort surface shape coordinates, outline them and detect special markers from the surface shape scan. The accuracy of measurement exceeded the design aim of +/- 3 mm in each axis within a volume of 400 mm x 500 mm x 300 mm.