Twente spine model: A complete and coherent dataset for musculo-skeletal modeling of the lumbar region of the human spine

Musculo-skeletal modeling can greatly help in understanding normal and pathological functioning of the spine. For such models to produce reliable muscle and joint force estimations, an adequate set of musculo-skeletal data is necessary. In this study, we present a complete and coherent dataset for the lumbar spine, based on medical images and dissection measurements from one embalmed human cadaver. We divided muscles into muscle-tendon elements, digitized their attachments at the bones and measured morphological parameters. In total, we measured 11 muscles from one body side, using 96 elements. For every muscle element, we measured three-dimensional coordinates of its attachments, fiber length, tendon length, sarcomere length, optimal fiber length, pennation angle, mass, and physiological cross-sectional area together with the geometry of the lumbar spine. Results were consistent with other anatomical studies and included new data for the serratus posterior inferior muscle. The dataset presented in this paper enables a complete and coherent musculo-skeletal model for the lumbar spine and will improve the current state-of-the art in predicting spinal loading.     

Sarcomere length organization as a design for cooperative function amongst all lumbar spine muscles

The functional design of spine muscles in part dictates their role in moving, loading, and stabilizing the lumbar spine. There have been numerous studies that have examined the isolated properties of these individual muscles. Understanding how these muscles interact and work together, necessary for the prediction of muscle function, spine loading, and stability, is lacking. The objective of this study was to measure sarcomere lengths of lumbar muscles in a neutral cadaveric position and predict the sarcomere operating ranges of these muscles throughout full ranges of spine movements. Sarcomere lengths of seven lumbar muscles in each of seven cadaveric donors were measured using laser diffraction. Using published anatomical coordinate data, superior muscle attachment sites were rotated about each intervertebral joint and the total change in muscle length was used to predict sarcomere length operating ranges. The extensor muscles had short sarcomere lengths in a neutral spine posture and there were no statistically significant differences between extensor muscles. The quadratus lumborum was the only muscle with sarcomere lengths that were optimal for force production in a neutral spine position, and the psoas muscles had the longest lengths in this position. During modeled flexion the extensor, quadratus lumborum, and intertransversarii muscles lengthened so that all muscles operated in the approximate same location on the descending limb of the force-length relationship. The intrinsic properties of lumbar muscles are designed to complement each other. The extensor muscles are all designed to produce maximum force in a mid-flexed posture, and all muscles are designed to operate at similar locations of the force-length relationship at full spine flexion.     

Sensitivity of muscle and intervertebral disc force computations to variations in muscle attachment sites

Abstract

The current paper aims at assessing the sensitivity of muscle and intervertebral disc force computations against potential errors in modeling muscle attachment sites. We perturbed each attachment location in a complete and coherent musculoskeletal model of the human spine and quantified the changes in muscle and disc forces during standing upright, flexion, lateral bending, and axial rotation of the trunk. Although the majority of the muscles caused minor changes (less than 5%) in the disc forces, certain muscle groups, for example, quadratus lumborum, altered the shear and compressive forces as high as 353% and 17%, respectively. Furthermore, percent changes were higher in the shear forces than in the compressive forces. Our analyses identified certain muscles in the rib cage (intercostales interni and intercostales externi) and lumbar spine (quadratus lumborum and longissimus thoracis) as being more influential for computing muscle and disc forces. Furthermore, the disc forces at the L4/L5 joint were the most sensitive against muscle attachment sites, followed by T6/T7 and T12/L1 joints. Presented findings suggest that modeling muscle attachment sites based on solely anatomical illustrations might lead to erroneous evaluation of internal forces and promote using anatomical datasets where these locations were accurately measured. When developing a personalized model of the spine, certain care should also be paid especially for the muscles indicated in this work.     

A musculoskeletal model of the hand and wrist: model definition and evaluation

Abstract

To improve our understanding on the neuromechanics of finger movements, a comprehensive musculoskeletal model is needed. The aim of this study was to build a musculoskeletal model of the hand and wrist, based on one consistent data set of the relevant anatomical parameters. We built and tested a model including the hand and wrist segments, as well as the muscles of the forearm and hand in OpenSim. In total, the model comprises 19 segments (with the carpal bones modeled as one segment) with 23 degrees of freedom and 43 muscles. All required anatomical input data, including bone masses and inertias, joint axis positions and orientations as well as muscle morphological parameters (i.e. PCSA, mass, optimal fiber length and tendon length) were obtained from one cadaver of which the data set was recently published. Model validity was investigated by first comparing computed muscle moment arms at the index finger metacarpophalangeal (MCP) joint and wrist joint to published reference values. Secondly, the muscle forces during pinching were computed using static optimization and compared to previously measured intraoperative reference values. Computed and measured moment arms of muscles at both index MCP and wrist showed high correlation coefficients (r?=?0.88 averaged across all muscles) and modest root mean square deviation (RMSD?=?23% averaged across all muscles). Computed extrinsic flexor forces of the index finger during index pinch task were within one standard deviation of previously measured in-vivo tendon forces. These results provide an indication of model validity for use in estimating muscle forces during static tasks.     

Statistical shape modeling characterizes three-dimensional shape and alignment variability in the lumbar spine

The mechanics of the lumbar spine are heavily dependent on the underlying anatomy. Anatomical measures are used to assess the progression of pathologies related to low back pain and to screen patients for surgical treatment options. To describe anatomical norms and pathological differences for the population, statistical shape modeling, which uses full three-dimensional representations of bone morphology and relative alignment, can capture intersubject variability and enable comparative evaluations of subject to population. Accordingly, the objective of this study was to develop a comprehensive set of three-dimensional statistical models to characterize anatomical variability in the lumbar spine, by specifically describing the shape of individual vertebrae, and shape and alignment of the entire lumbar spine (L1-S1), with a focus on the L4-L5 and L5-S1 functional spinal units (FSU). Using CT scans for a cohort of 52 patients, lumbar spine geometries were registered to a template to establish correspondence and a principal component analysis identified the primary modes of variation. Scaling was the most prevalent mode of variation for all models. Subsequent modes of the statistical shape models of the individual bones characterized shape variation within the processes. Subsequent modes of variation for the FSU and entire spine models described alignment changes associated with disc height and lordosis. Quantification of anatomical variation in the spine with statistical models can inform implant design and sizing, assist clinicians in diagnosing pathologies, screen patients for treatment options, and support pre-operative planning.     

A myoelectrically based dynamic three-dimensional model to predict loads on lumbar spine tissues during lateral bending.

This work describes a dynamic model of the low back that incorporates extensive anatomical detail of the musculo-ligamentous-skeletal system to predict the load time histories of individual tissues. The dynamic reaction moment about L4/L5 was determined during lateral bending from a linked-segment model. This reaction moment was partitioned into restorative components provided by the disc, ligament strain, and active-muscle contraction using a second model of the spine that incorporated a detailed representation of the anatomy. Muscle contraction forces were estimated using both information from surface electromyograms, collected from 12 sites, and consideration of the modulating effects of muscle length, cross-sectional area and passive elasticity. This modelling technique is sensitive to the different ways in which individuals recruit their musculature to satisfy moment constraints. Time histories of muscle forces are provided. High muscle loads are consistent with the common clinical observation of muscle strain often produced by load handling. Furthermore, the coactivation measured in muscles on both sides of the trunk suggests that muscles are recruited to satisfy the lateral bending reaction torque in addition to performing other mechanical roles such as spine stabilization. If an estimate of the intervertebral joint compression is desired for assessment of lateral bends in industry, then a single equivalent lateral muscle with a moment arm of approximately 3.0-4.0 cm would conservatively capture the effects of muscle co-contraction quantified in this study.     

Altered spinal kinematics and muscle recruitment pattern of the cervical and thoracic spine in people with chronic neck pain during functional task

Knowledge on the spinal kinematics and muscle activation of the cervical and thoracic spine during functional task would add to our understanding of the performance and interplay of these spinal regions during dynamic condition. The purpose of this study was to examine the influence of chronic neck pain on the three-dimensional kinematics and muscle recruitment pattern of the cervical and thoracic spine during an overhead reaching task involving a light weight transfer by the upper limb. Synchronized measurements of the three-dimensional spinal kinematics and electromyographic activities of cervical and thoracic spine were acquired in thirty individuals with chronic neck pain and thirty age- and gender-matched asymptomatic controls. Neck pain group showed a significantly decreased cervical velocity and acceleration while performing the task. They also displayed with a predominantly prolonged coactivation of cervical and thoracic muscles throughout the task cycle. The current findings highlighted the importance to examine differential kinematic variables of the spine which are associated with changes in the muscle recruitment in people with chronic neck pain. The results also provide an insight to the appropriate clinical intervention to promote the recovery of the functional disability commonly reported in patients with neck pain disorders.     

The effect of static neck flexion on mechanical and neuromuscular behaviors of the cervical spine

Occupations that involve sustained or repetitive neck flexion are associated with a higher incidence of neck pain. Little in vivo information is available on the impact of static neck flexion on cervical spinal tissue. The aim of this study was to assess changes in mechanical and neuromuscular behaviors to sustained neck flexion in healthy adults. Sixty healthy subjects aged 20–35 years participated in this study. The participants were exposed to static neck flexion at a fixed angle of full flexion for 10 min. Mechanical and neuromuscular responses of the cervical spine to sudden perturbations were measured pre- and post-exposure. Magnitude of load-relaxation during flexion exposure, stiffness, peak head angular velocity, and reflexive activities of cervical muscles were recorded. Effective neck stiffness decreased significantly, especially in female participants (P = 0.0001). The reflexive response of the cervical erector spinae muscles to head perturbation delayed significantly (P = 0.0001). Peak head angular velocity was significantly increased after exposure to neck flexion for 10 min, especially in female participants (P = 0.001). In the present study, static flexion resulted in changes in mechanical and neuromuscular behavior of the cervical spine, potentially leading to decreased stiffness of the cervical spine. The results confirm the importance of maintaining a correct head and neck position during work and improving the work environment to reduce the cervical spinal load and work-related neck pain.     

Muscle architecture of the common chimpanzee (Pan troglodytes): perspectives for investigating chimpanzee behavior

Thorpe et al. (Am J Phys Anthropol 110:179–199, 1999) quantified chimpanzee (Pan troglodytes) muscle architecture and joint moment arms to determine whether they functionally compensated for structural differences between chimpanzees and humans. They observed enough distinction to conclude that musculoskeletal properties were not compensatory and suggested that chimpanzees and humans do not exhibit dynamically similar movements. These investigators based their assessment on unilateral limb musculatures from three male chimpanzees, of which they called one non-adult representative. Factors such as age, sex, and behavioral lateralization may be responsible for variation in chimpanzee muscle architecture, but this is presently unknown. While the full extent of variation in chimpanzee muscle architecture due to such factors cannot be evaluated with data presently available, the present study expands the chimpanzee dataset and provides a preliminary glimpse of the potential relevance of these factors. Thirty-seven forelimb and 36 hind limb muscles were assessed in two chimpanzee cadavers: one unilaterally (right limbs), and one bilaterally. Mass, fiber length, and physiological cross-sectional area (PCSA) are reported for individual muscles and muscle groups. The musculature of an adult female is more similar in architectural patterns to a young male chimpanzee than to humans, particularly when comparing muscle groups. Age- and sex-related intraspecific differences do not obscure chimpanzee-human interspecific differences. Side asymmetry in one chimpanzee, despite consistent forelimb directional asymmetry, also does not exceed the magnitude of chimpanzee-human differences. Left forelimb muscles, on average, usually had higher masses and longer fiber lengths than right, while right forelimb muscles, on average, usually had greater PCSAs than left. Most muscle groups from the left forelimb exhibited greater masses than right groups, but group asymmetry was significant only for the manual digital muscles. The hind limb exhibited less asymmetry than the forelimb in most comparisons. Examination of additional chimpanzees would clarify the full range of inter- and intra-individual variation.     

Links between the mechanics of ventilation and spine stability

Spine stability is ensured through isometric coactivation of the torso muscles; however, these same muscles are used cyclically to assist ventilation. Our objective was to investigate this apparent paradoxical role (isometric contraction for stability or rhythmic contraction for ventilation) of some selected torso muscles that are involved in both ventilation and support of the spine. Eight, asymptomatic, male subjects provided data on low back moments, motion, muscle activation, and hand force. These data were input to an anatomically detailed, biologically driven model from which spine load and a lumbar spine stability index was obtained. Results revealed that subjects entrained their torso stabilization muscles to breathe during demanding ventilation tasks. Increases in lung volume and back extensor muscle activation coincided with increases in spine stability, whereas declines in spine stability were observed during periods of low lung inflation volume and simultaneously low levels of torso muscle activation. As a case study, aberrant ventilation motor patterns (poor muscle entrainment), seen in one subject, compromised spine stability. Those interested in rehabilitation of patients with lung compromise and concomitant back troubles would be assisted with knowledge of the mechanical links between ventilation during tasks that impose spine loading.     

Anatomy of raccoon (Procyon lotor) and coati (Nasua narica and N. nasua) forearm and leg muscles: relations between fiber length, moment-arm length, and joint-angle excursion

Muscle architecture, moment arms, and locomotor movements in the distal limb segments of the procyonids Nasua (coati) and Procyon (raccoon) are analyzed with reference to patterns of muscle fiber length. This study addresses the hypothesis that relative fiber lengths among muscles in a muscle group can be predicted on the basis of correlates of muscle tension. The results include the following: consistent patterns of fiber length of muscles in a muscle group exist within and between the two genera. Differences in fiber length between muscles can be accounted for by two principal correlates of muscle excursion--length of a muscle's moment arm about a joint and joint-angle excursion. Muscle fiber pinnation permits increased tendon excursion, but this effect is relatively small in comparison to the effects of moment-arm length and joint-angle excursion. Corollary action between two or more joints (or lack thereof) is an important factor in determination of fiber lengths.     

Induction and costs of tail spine elongation in Daphnia hyalina×galeata: reduction of susceptibility to copepod predation

1. Seasonal field data showed a positive correlation between the tail spine length of Daphnia hyalina × galeata and the density of the copepod Acanthocyclops robustus . Laboratory experiments were designed to assess the mechanisms underlying the induction of tail spine elongation and to test whether this morphology reduced predation on Daphnia juveniles.
2. Both the elongated tail spine morph and control spine morph produced progeny with elongated tail spine when exposed to copepods. Instar increments, calculated from individual body length, showed that individual growth decreased in the presence of copepods. This decrease in individual growth was less pronounced in spined morphs relative to control morphs.
3. Copepods exhibited significantly higher feeding rates on control morph juveniles compared to elongated tail spine morph juveniles.
4. All Daphnia matured at instar 5 even though the control morph neonates took 24–30 more hours to mature in the presence of copepods than in the absence of copepods. Enlarged body and spine lengths of progeny coincided with reduced progeny number during the first six reproductive instars. The disadvantage of the reduced offspring number produced per female was balanced by enhanced survivorship of progeny subjected to copepod predation.     

Reliability and robustness of muscle architecture measurements obtained using diffusion tensor imaging with anatomically constrained tractography

For detailed analyses of muscle adaptation mechanisms during growth, ageing or disease, reliable measurements of muscle architecture are required. Diffusion tensor imaging (DTI) and DTI tractography have been used to reconstruct the architecture of human muscles in vivo. However, muscle architecture measurements reconstructed with conventional DTI techniques are often anatomically implausible because the reconstructed fascicles do not terminate on aponeuroses, as real muscle fascicles are known to do. In this study, we tested the reliability of an anatomically constrained DTI-based method for measuring three-dimensional muscle architecture. Anatomical magnetic resonance images and diffusion tensor images were obtained from the left legs of eight healthy participants on two occasions one week apart. Muscle volumes, fascicle lengths, pennation angles and fascicle curvatures were measured in the medial and lateral gastrocnemius, soleus and the tibialis anterior muscles. Averaged across muscles, the intraclass correlation coefficient was 0.99 for muscle volume, 0.81 for fascicle length, 0.73 for pennation angle and 0.76 for fascicle curvature. Measurements of muscle architecture obtained using conventional DTI tractography were highly sensitive to variations in the stopping criteria for DTI tractography. The application of anatomical constraints reduced this sensitivity significantly. This study demonstrates that anatomically constrained DTI tractography can provide reliable and robust three-dimensional measurements of whole-muscle architecture. The algorithms used to constrain tractography have been made publicly available.     

Muscle parameters estimation based on biplanar radiography

The evaluation of muscle and joint forces in vivo is still a challenge. Musculo-Skeletal (musculo-skeletal) models are used to compute forces based on movement analysis. Most of them are built from a scaled-generic model based on cadaver measurements, which provides a low level of personalization, or from Magnetic Resonance Images, which provide a personalized model in lying position. This study proposed an original two steps method to access a subject-specific musculo-skeletal model in 30 min, which is based solely on biplanar X-Rays. First, the subject-specific 3D geometry of bones and skin envelopes were reconstructed from biplanar X-Rays radiography. Then, 2200 corresponding control points were identified between a reference model and the subject-specific X-Rays model. Finally, the shape of 21 lower limb muscles was estimated using a non-linear transformation between the control points in order to fit the muscle shape of the reference model to the X-Rays model. Twelfth musculo-skeletal models were reconstructed and compared to their reference. The muscle volume was not accurately estimated with a standard deviation (SD) ranging from 10 to 68%. However, this method provided an accurate estimation the muscle line of action with a SD of the length difference lower than 2% and a positioning error lower than 20 mm. The moment arm was also well estimated with SD lower than 15% for most muscle, which was significantly better than scaled-generic model for most muscle. This method open the way to a quick modeling method for gait analysis based on biplanar radiography.     

Measuring morphological parameters of the pelvic floor for finite element modelling purposes

The goal of this study was to obtain a complete data set needed for studying the complex biomechanical behaviour of the pelvic floor muscles using a computer model based on the finite element (FE) theory. The model should be able to predict the effect of surgical interventions and give insight into the function of pelvic floor muscles. Because there was a lack of any information concerning morphological parameters of the pelvic floor muscle structures, we performed an experimental measurement to uncover those morphological parameters. Geometric parameters as well as muscle parameters of the pelvic floor muscles were measured on an embalmed female cadaver. A three-dimensional (3D) geometric data set of the pelvic floor including muscle fibre directions was obtained using a palpator device. A 3D surface model based on the experimental data, needed for mathematical modelling of the pelvic floor, was created. For all parts of the diaphragma pelvis, the optimal muscle fibre length was determined by laser diffraction measurements of the sarcomere length. In addition, other muscle parameters such as physiological cross-sectional area and total muscle fibre length were determined. Apart from these measurements we obtained a data set of the pelvic floor structures based on nuclear magnetic resonance imaging (MRI) on the same cadaver specimen. The purpose of this experiment was to discover the relationship between the MRI morphology and geometrical parameters obtained from the previous measurements. The produced data set is not only important for biomechanical modelling of the pelvic floor muscles, but it also describes the geometry of muscle fibres and is useful for functional analysis of the pelvic floor in general. By the use of many reference landmarks all these morphologic data concerning fibre directions and optimal fibre length can be morphed to the geometrical data based on segmentation from MRI scans.These data can be directly used as an input for building a mathematical model based on FE theory.     

Functional bases of fiber length and angulation in muscle

The differences in angulation and length observed for the fibers of anatomical muscles may reflect two distinct mechanical requirements: arrangement for pinnation, reflecting an increase in physiological cross-section and arrangement for equivalent placement of sarcomeres, possibly associated with coordination. The observed differences in fiber angulation and length have different effects upon the responses of sarcomeres, specifically on their extent and rate of shortening and on the force they may generate. The basic mechanisms governing these effects and the various arrangements of muscles are reviewed. Fiber length and angulation in the complex M. adductor mandibulae externus 2 of a lizard were measured stereotactically; these values correlate well with the hypothesis that the muscle shows equivalence and demonstrate that angulation for pinnation is less constant. An outline for the study of muscle architecture and function, detailing the kinds of information require to estimate forces and evaluate muscle and fiber placements, is presented.     

Chimpanzee thumb muscle cross sections, moment arms and potential torques, and comparisons with humans.

This study investigates the morphological basis of differences between humans and chimpanzees in the kinematical and dynamical parameters of the musculature of the thumb. It is partly intended to test an hypothesis that human thumb muscles can exert significantly greater torques, due to larger muscle cross-sectional areas or to longer tendon moment arms or to both. We focus on the estimation of the potentials of thumb muscles to exert torques about joint axes in a sample of eight chimpanzee cadaver hands. The potential torque of a muscle is estimated by taking the product of a muscle's physiological cross-sectional area (an estimator of force) with its dynamical moment arm (derived from the slope of tendon excursion versus joint angular displacement, obtained during passive movements of cadaver thumb joints). Comparison of our results with similar data obtained for humans at the same Mayo Clinic laboratory shows significant differences between humans and chimpanzees in potential torque of most thumb muscles, those of humans generally exhibiting larger values. The primary reason for the larger torques in humans is that their average moment arms are significantly longer, permitting greater torque for a given muscle size. An additional finding is that chimpanzees and humans differ in the direction of secondary thumb metacarpal movements elicited by contraction of some muscles, as shown by differences in moment arm signs for a given movement in the same muscle. The differences appear to be related to differences in the musculo-skeletal structures of the trapeziometacarpal joint.     

Three-Dimensional Muscle Architecture and Comprehensive Dynamic Properties of Rabbit Gastrocnemius,Plantaris and Soleus: Input for Simulation Studies

The vastly increasing number of neuro-muscular simulation studies (with increasing numbers of muscles used per simulation) is in sharp contrast to a narrow database of necessary muscle parameters. Simulation results depend heavily on rough parameter estimates often obtained by scaling of one muscle parameter set. However, in vivo muscles differ in their individual properties and architecture. Here we provide a comprehensive dataset of dynamic (n = 6 per muscle) and geometric (three-dimensional architecture, n = 3 per muscle) muscle properties of the rabbit calf muscles gastrocnemius, plantaris, and soleus. For completeness we provide the dynamic muscle properties for further important shank muscles (flexor digitorum longus, extensor digitorum longus, and tibialis anterior; n = 1 per muscle). Maximum shortening velocity (normalized to optimal fiber length) of the gastrocnemius is about twice that of soleus, while plantaris showed an intermediate value. The force-velocity relation is similar for gastrocnemius and plantaris but is much more bent for the soleus. Although the muscles vary greatly in their three-dimensional architecture their mean pennation angle and normalized force-length relationships are almost similar. Forces of the muscles were enhanced in the isometric phase following stretching and were depressed following shortening compared to the corresponding isometric forces. While the enhancement was independent of the ramp velocity, the depression was inversely related to the ramp velocity. The lowest effect strength for soleus supports the idea that these effects adapt to muscle function. The careful acquisition of typical dynamical parameters (e.g. force-length and force-velocity relations, force elongation relations of passive components), enhancement and depression effects, and 3D muscle architecture of calf muscles provides valuable comprehensive datasets for e.g. simulations with neuro-muscular models, development of more realistic muscle models, or simulation of muscle packages.     

A three-dimensional model of the human cervical spine for impact simulation

A three-dimensional analytical model of the cervical spine is described. The cervical vertebrae and the head are modeled as rigid bodies which are interconnected by deformable elements representing the intervertebral disks, facet joints, ligaments and muscles. A special pentahedral continuum element for representing the articular facets is described which effectively maintains stability of the cervical spine in both lateral and frontal plane accelerations, which is very difficult with multi-spring models of the facets. A simplified representation is used for the spine and body below the level of T1. The neck musculature is modeled by over 100 muscle elements representing 22 major muscle groups in the neck. The model has been validated for frontal and sideways impact accelerations by simulating published experimental data. Results are also presented to show the effects of the stretch reflex response on the dynamics of the head and neck under moderate acceleration.