Evaluation and calibration of an electromagnetic tracking device for biomechanical analysis of lifting tasks.

Electromagnetic motion tracking devices are increasingly used as a kinematic measuring tool. The aim of this study was to evaluate a long-range transmitter in an environment with a conventional force plate present in order to assess its suitability for further biomechanical applications. Using a calibration apparatus developed in our lab and Optotrack measurements, the performances of the Motion Star were evaluated. Positions and orientations were measured in a 140 x 80 x 120 cm(3) space centered on the force plate. Using a mathematical model developed at Queen's University, these data were calibrated. Errors on position and orientation were less than 150 mm and 10 degrees before calibration of the Motion Star, and less than 20mm and 2 degrees after calibration, with no differences between data collected with the force plate switched on/off. These errors did not depend on sensor orientation. Variability of the signal was small indicating minimal noise. Field distortion was the largest source of measurement error, which increased with the distance between the transmitter and the sensor and the proximity of the sensor to the force plate. Before its use for biomechanical analysis of lifting tasks and validation of dynamic models using force plate data, the data from electromagnetic motion tracking devices must be calibrated to decrease the errors due to electromagnetic field distortion.     

Effect of metal and sampling rate on accuracy of Flock of Birds electromagnetic tracking system

Electromagnetic tracking devices are used in many biomechanics applications. Previous studies have shown that metal located within the working field of direct current electromagnetic tracking devices produces significant errors. However, the effect of sampling rate on the errors produced in a metallic environment has never been studied. In this study, the accuracy of Ascension Technologies' Flock of Birds was evaluated at sampling rates of 20, 60, 100, and 140 Hz, in the presence of both aluminum and steel. Aluminum interference caused an increase in measurement error as the sampling rate increased. Conversely, steel interference caused a decrease in measurement error as the sampling rate increased. We concluded that the accuracy of the Flock of Birds tracking system can be optimized in the presence of metal by careful choice in sampling rate.     

The accuracy of joint surface models constructed from data obtained with an electromagnetic tracking device

Electromagnetic tracking devices are widely used in biomechanics. In this article a method is evaluated to construct models of articular surfaces using an electromagnetic tracking device. First, the accuracy of the space tracker was examined and optimised. Then, from several joint surfaces random points were measured and eighth degree polynomials were fitted to these measurements. To check if the fit converged well, plots of cross sections of the model with corresponding data points were examined. The accuracy of the models was determined by comparing them with computed tomography data and by reproducibility tests. All the fits converged well to the data. The root mean square (RMS) error of the models varied from 0.07 to 0. 18mm, and was proportional to the size and complexity of the surface. This was mainly due to systematic errors made by the space tracker, which were also proportional to the size and complexity of the surface.     

An algorithm for automated analysis of ultrasound images to measure tendon excursion in vivo

The accuracy of an algorithm for the automated tracking of tendon excursion from ultrasound images was tested in three experiments. Because the automated method could not be tested against direct measurements of tendon excursion in vivo, an indirect validation procedure was employed. In one experiment, a wire "phantom" was moved a known distance across the ultrasound probe and the automated tracking results were compared with the known distance. The excursion of the musculotendinous junction of the gastrocnemius during frontal and sagittal plane movement of the ankle was assessed in a single cadaver specimen both by manual tracking and with a cable extensometer sutured to the gastrocnemius muscle. A third experiment involved estimation of Achilles tendon excursion in vivo with both manual and automated tracking. Root mean squared (RMS) error was calculated between pairs of measurements after each test. Mean RMS errors of less than 1 mm were observed for the phantom experiments. For the in vitro experiment, mean RMS errors of 8-9% of the total tendon excursion were observed. Mean RMS errors of 6-8% of the total tendon excursion were found in vivo. The results indicate that the proposed algorithm accurately tracks Achilles tendon excursion, but further testing is necessary to determine its general applicability.     

Evaluation of an electromagnetic position tracking device for measuring in vivo, dynamic joint kinematics

An electromagnetic position tracking device was evaluated to determine its static and dynamic accuracy and reliability for applications related to measuring in vivo joint kinematics. The device detected the position and orientation of small coiled sensors, maintained in an electromagnetic field. System output was measured against known translations or rotations throughout the measurement volume. Average translational errors during static testing were 0.1 +/- 0.04, 0.2 +/- 0.17, and 0.8 +/- 0.81 mm (mean+/-SD) for sensors 50, 300, and 550 mm away from the field generator, respectively. Average rotational errors were 0.4 +/- 0.31 degrees, 0.4 +/- 0.21 degrees, and 0.9 +/- 0.85 degrees (mean +/- SD) for sensors located at the same distances. Since we intended to use this system in an animal walking on a treadmill, we incrementally moved the sensors under various treadmill conditions. The effects of treadmill operation on translational accuracy were found to be negligible. The effects of dynamic motions on sensor-to-sensor distance were also assessed for future data collection in the animal. Sensor-to-sensor distance showed standard deviations of 2.6 mm and a range of 13 mm for the highest frequency tested (0.23 Hz). We conclude that this system is useful for static or slow dynamic motions, but is of limited use for obtaining gait kinematics at higher speeds.     

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.     

Calibration of the "Flock of Birds" electromagnetic tracking device and its application in shoulder motion studies.

In this paper the applicability in terms of measurement accuracy of the "Flock of Birds" six D.O.F. electromagnetic tracking device in shoulder research is investigated. Position measurements in a workspace of approximately 1 m3 were performed using a stylus. The andom error at the stylus tip appeared to be 1.86, 1.98 and 2.54 mm for x-, y- and z-coordinate, respectively. The error caused by distortion of the magnetic field by metal in the concrete of especially the floor was 20.8, 22.2 and 20.4 mm for the x-, y- and z-coordinate, respectively. Calibration and leaving out the measurements closest to the floor lowered this error to 2.07, 2.38 and 2.35 mm. Orientation errors of the shoulder bones evolving from the measurement inaccuracy were estimated from repeated measurements of shoulder bony landmarks of ten subjects by means of the stylus. These errors were generally below 2 degrees. This is lower than found for the same measurements using a spatial linkage digitizer. It is concluded that the "Flock of Birds" is a useful tool for shoulder kinematic studies.     

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.     

Computer-assisted tracking of actin filament motility.

In vitro motility assays, in which fluorescently labeled actin filaments are propelled by myosin molecules adhered to a glass coverslip, require that actin filament velocity be determined. We have developed a computer-assisted filament tracking system that reduced the analysis time, minimized investigator bias, and provided greater accuracy in locating actin filaments in video images. The tracking routine successfully tracked filaments under experimental conditions where filament density, size, and extent of photobleaching varied dramatically. Videotaped images of actin filament motility were digitized and processed to enhance filament image contrast relative to background. Once processed, filament images were cross correlated between frames and a filament path was determined. The changes in filament centroid or center position between video frames were then used to calculate filament velocity. The tracking routine performance was evaluated and the sources of noise that contributed to errors in velocity were identified and quantified. Errors originated in algorithms for filament centroid determination and in the choice of sampling interval between video frames. With knowledge of these error sources, the investigator can maximize the accuracy of the velocity calculation through access to user-definable computer program parameters.     

Accuracy and precision of a method to study kinematics of the temporomandibular joint: combination of motion data and CT imaging

The purpose of the study was to test the precision and accuracy of a method used to track selected landmarks during motion of the temporomandibular joint (TMJ). A precision phantom device was constructed and relative motions between two rigid bodies on the phantom device were measured using optoelectronic (OE) and electromagnetic (EM) motion tracking devices. The motion recordings were also combined with a 3D CT image for each type of motion tracking system (EM+CT and OE+CT) to mimic methods used in previous studies. In the OE and EM data collections, specific landmarks on the rigid bodies were determined using digitization. In the EM+CT and OE+CT data sets, the landmark locations were obtained from the CT images. 3D linear distances and 3D curvilinear path distances were calculated for the points. The accuracy and precision for all 4 methods were evaluated (EM, OE, EM+CT and OE+CT). In addition, results were compared with and without the CT imaging (EM vs. EM+CT, OE vs. OE+CT). All systems overestimated the actual 3D curvilinear path lengths. All systems also underestimated the actual rotation values. The accuracy of all methods was within 0.5mm for 3D curvilinear path calculations, 0.05mm for 3D linear distance calculations and 0.2 degrees for rotation calculations. In addition, Bland-Altman plots for each configuration of the systems suggest that measurements obtained from either system are repeatable and comparable.     

In situ comparison of A-mode ultrasound tracking system and skin-mounted markers for measuring kinematics of the lower extremity

Skin-mounted marker based motion capture systems are widely used in measuring the movement of human joints. Kinematic measurements associated with skin-mounted markers are subject to soft tissue artifacts (STA), since the markers follow skin movement, thus generating errors when used to represent motions of underlying bone segments. We present a novel ultrasound tracking system that is capable of directly measuring tibial and femoral bone surfaces during dynamic motions, and subsequently measuring six-degree-of-freedom (6-DOF) tibiofemoral kinematics. The aim of this study is to quantitatively compare the accuracy of tibiofemoral kinematics estimated by the ultrasound tracking system and by a conventional skin-mounted marker based motion capture system in a cadaveric experimental scenario. Two typical tibiofemoral joint models (spherical and hinge models) were used to derive relevant kinematic outcomes. Intra-cortical bone pins equipped with optical markers were inserted in the tibial and femoral bones to serve as a reference to provide ground truth kinematics. The ultrasound tracking system resulted in lower kinematic errors than the skin-mounted markers (the ultrasound tracking system: maximum root-mean-square (RMS) error 3.44° for rotations and 4.88 mm for translations, skin-mounted markers with the spherical joint model: 6.32° and 6.26 mm, the hinge model: 6.38° and 6.52 mm). Our proposed ultrasound tracking system has the potential of measuring direct bone kinematics, thereby mitigating the influence and propagation of STA. Consequently, this technique could be considered as an alternative method for measuring 6-DOF tibiofemoral kinematics, which may be adopted in gait analysis and clinical practice.     

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.     

The use of sequential MR image sets for determining tibiofemoral motion: reliability of coordinate systems and accuracy of motion tracking algorithm

The use of magnetic resonance imaging has been proposed by many investigators for establishment of joint reference systems and kinematic tracking of musculoskeletal joints. In this study, the intraobserver and interobserver reliability of a strategy to establish anatomic reference systems using manually selected fiducial points were quantified for seven sets of MR images of the human knee joint. The standard error of the measurement of the intraobserver and interobserver errors were less than 2.6 degrees, and 1.2 mm for relative tibiofemoral orientation and displacement, respectively. An automated motion tracking algorithm was also validated with a controlled motion experiment in a cadaveric knee joint. The controlled displacements and rotations prescribed in our motion tracking validation were highly correlated to those predicted (Pearson's correlation = 0.99, RMS errors = 0.39 mm, 0.38 degree). Finally, the system for anatomic reference system definition and motion tracking was demonstrated with a set of MR images of in vivo passive flexion in the human knee.     

Accuracy of mobile biplane X-ray imaging in measuring 6-degree-of-freedom patellofemoral kinematics during overground gait

The aim of this study was to evaluate the accuracy with which mobile biplane X-ray imaging can be used to measure patellofemoral kinematics of the intact knee during overground gait. A unique mobile X-ray imaging system tracked and recorded biplane fluoroscopic images of two human cadaver knees during simulated overground walking at a speed of 0.7 m/s. Six-degree-of-freedom patellofemoral kinematics were calculated using a bone volumetric model-based method and the results then compared against those derived from a gold-standard bead-based method. RMS errors for patellar anterior translation, superior translation and lateral shift were 0.19 mm, 0.34 mm and 0.37 mm, respectively. RMS errors for patellar flexion, lateral tilt and lateral rotation were 1.08°, 1.15° and 1.46°, respectively. The maximum RMS error for patellofemoral translations was approximately one-half that reported previously for tibiofemoral translations using the same mobile X-ray imaging system while the maximum RMS error for patellofemoral rotations was nearly two times larger than corresponding errors reported for tibiofemoral rotations. The lower accuracy in measuring patellofemoral rotational motion is likely explained by the symmetric nature of the patellar geometry and the smaller size of the patella compared to the tibia.     

Validation of imaging-based quantification of glenohumeral joint kinematics using an unmodified clinical biplane fluoroscopy system

Model-based tracking, using CT and biplane fluoroscopy, allows highly accurate quantification of glenohumeral motion and changes in the subacromial space. Previous investigators have used custom-built biplane fluoroscopes designed specifically for kinematic applications, which are available at few institutions and require FDA approval prior to clinical use. The aim of this study was to demonstrate the utility of an off-the-shelf clinical biplane fluoroscope for kinematic applications by validating model-based tracking for measurement of glenohumeral motion using an unmodified clinical system. Biplane images of each shoulder of a cadaver torso were acquired at various joint positions and during simulated movements along anatomical planes of motion. The pose of each humerus and scapula was determined using model-based tracking and compared to a bead-based gold standard. Error due to a temporal-offset between corresponding biplane images, characteristic of clinical biplane systems, was determined by comparison of measured and known relative position of 2 bead clusters of a phantom that was imaged while moved throughout the fluoroscopy image volume. Model-based tracking had global kinematic mean absolute errors of 0.27 mm and 0.29° (static), and 0.22–0.32 mm and 0.12–0.45° (dynamic). Glenohumeral mean absolute errors were 0.39 mm and 0.45° (static), and 0.36–0.42 mm and 0.41–0.48° (dynamic). The temporal-offset was predicted to add errors of 0.06–0.85 mm and 0.05–0.28° for cadaveric trials for the speeds examined. For defined speeds, sub-millimeter and sub-degree kinematic accuracy and precision were achieved using an unmodified clinical biplane fluoroscope for quantification of glenohumeral motion.     

A user''s guide for avoiding errors in absorbance image cytometry: a review with original experimental observations

Summary The sources of errors which may occur when cytophotometric analysis is performed with video microscopy using a charged-coupled device (CCD) camera and image analysis are reviewed. The importance of these errors in practice has been tested, and ways of minimizing or avoiding them are described. Many of these sources of error are known from scanning and integrating cytophotometry; they include the use of white instead of monochromatic light, the distribution error, glare, diffraction, shading distortion, and inadequate depth of field. Sources of errors specifically linked with video microscopy or image analysis are highlighted as well; these errors include blooming, limited dynamic range of grey levels, non-linear responses of the camera, contrast transfer, photon noise, dark current, read-out noise, fixed scene noise and spatial calibration. Glare, contrast transfer, fixed scene noise, depth of field and spatial calibration seem to be the most serious sources of errors when measurements are not carried out correctly. We include a table summarizing all the errors discussed in this review and procedures for avoiding them. It can be concluded that if accurate calibration steps are performed and proper guidelines followed, image cytometry can be applied safely for quantifying amounts of chromophore per cell or per unit volume of tissue in sections, even when relatively simple and inexpensive instrumentation is being used.     

Electromagnetic interference can cause hospital devices to malfunction,McGill group warns.

Electromagnetic interference (EMI) from sources such as television transmitters, police radios and cellular phones can cause medical monitors and other hospital devices to malfunction, says the principal investigator of a McGill biomedical engineering group set up in 1989 to study, predict and prevent such problems. The impact of equipment malfunction can range from mere inconvenience to serious problems. The research group advises physicians and other health care professionals to learn how to spot problems related to EMI and electromagnetic compatibility.     

Quantitative comparison of algorithms for tracking single fluorescent particles

Single particle tracking has seen numerous applications in biophysics, ranging from the diffusion of proteins in cell membranes to the movement of molecular motors. A plethora of computer algorithms have been developed to monitor the sub-pixel displacement of fluorescent objects between successive video frames, and some have been claimed to have "nanometer" resolution. To date, there has been no rigorous comparison of these algorithms under realistic conditions. In this paper, we quantitatively compare specific implementations of four commonly used tracking algorithms: cross-correlation, sum-absolute difference, centroid, and direct Gaussian fit. Images of fluorescent objects ranging in size from point sources to 5 microm were computer generated with known sub-pixel displacements. Realistic noise was added and the above four algorithms were compared for accuracy and precision. We found that cross-correlation is the most accurate algorithm for large particles. However, for point sources, direct Gaussian fit to the intensity distribution is the superior algorithm in terms of both accuracy and precision, and is the most robust at low signal-to-noise. Most significantly, all four algorithms fail as the signal-to-noise ratio approaches 4. We judge direct Gaussian fit to be the best algorithm when tracking single fluorophores, where the signal-to-noise is frequently near 4.     

A molecular ruler for measuring quantitative distance distributions

We report a novel molecular ruler for measurement of distances and distance distributions with accurate external calibration. Using solution X-ray scattering we determine the scattering interference between two gold nanocrystal probes attached site-specifically to a macromolecule of interest. Fourier transformation of the interference pattern provides a model-independent probability distribution for the distances between the probe centers-of-mass. To test the approach, we measure end-to-end distances for a variety of DNA structures. We demonstrate that measurements with independently prepared samples and using different X-ray sources are highly reproducible, we demonstrate the quantitative accuracy of the first and second moments of the distance distributions, and we demonstrate that the technique recovers complex distribution shapes. Distances measured with the solution scattering-interference ruler match the corresponding crystallographic values, but differ from distances measured previously with alternate ruler techniques. The X-ray scattering interference ruler should be a powerful tool for relating crystal structures to solution structures and for studying molecular fluctuations.     

Marker Configuration Model-Based Roentgen Fluoroscopic Analysis

It remains unknown if and how the polyethylene bearing in mobile bearing knees moves during dynamic activities with respect to the tibial base plate. Marker Configuration Model-Based Roentgen Fluoroscopic Analysis (MCM-based RFA) uses a marker configuration model of inserted tantalum markers in order to accurately estimate the pose of an implant or bone using single plane Roentgen images or fluoroscopic images. The goal of this study is to assess the accuracy of (MCM-Based RFA) in a standard fluoroscopic set-up using phantom experiments and to determine the error propagation with computer simulations. The experimental set-up of the phantom study was calibrated using a calibration box equipped with 600 tantalum markers, which corrected for image distortion and determined the focus position. In the computer simulation study the influence of image distortion, MC-model accuracy, focus position, the relative distance between MC-models and MC-model configuration on the accuracy of MCM-Based RFA were assessed. The phantom study established that the in-plane accuracy of MCM-Based RFA is 0.1 mm and the out-of-plane accuracy is 0.9 mm. The rotational accuracy is 0.1 degrees. A ninth-order polynomial model was used to correct for image distortion. Marker-Based RFA was estimated to have, in a worst case scenario, an in vivo translational accuracy of 0.14 mm (x-axis), 0.17 mm (y-axis), 1.9 mm (z-axis), respectively, and a rotational accuracy of 0.3 degrees. When using fluoroscopy to study kinematics, image distortion and the accuracy of models are important factors, which influence the accuracy of the measurements. MCM-Based RFA has the potential to be an accurate, clinically useful tool for studying kinematics after total joint replacement using standard equipment.