The glenohumeral joint rotation centre in vivo

Within the framework of the current call for standardization in upper extremity research, three methods to determine the glenohumeral joint rotation centre in vivo were tested. Therefore, subjects performed humeral movements, while a 3D electromagnetic tracking device registered the motion of the humerus with respect to the scapula. For the first method to estimate the glenohumeral joint rotation centre five scapular bony landmarks served as input to regression equations. The second method fitted a sphere through the humeral position data and the third method calculated the rotation centre determining an optimal helical axis. The experiment consisted of two parts, at first one subject was measured 10 times, subsequently one observer measured 10 subjects twice and another observer measured these subjects once. The first part of the experiment demonstrated that all methods are capable to reproduce the rotation centre within 4 mm, but the location of the centre differed significantly between methods (p<0.001). The second part, showed that inter- and intra-observer reliability was sufficiently for the sphere-fitting method and for the helical-axes method. The two observations of one observer differed significantly (p<0.008) using the regression method. The authors prefer the helical-axes method, it is a reliable and valid method which can be applied in movement registration of healthy subjects and patients with a shoulder endoprosthesis, it can be applied in hinge joints to determine a rotation axis instead of a rotation centre which is desirable in standardized upper extremity research, and calculation time is short.     

In vivo estimation of the glenohumeral joint centre by functional methods: Accuracy and repeatability assessment

Several algorithms have been proposed for determining the centre of rotation of ball joints. These algorithms are used rather to locate the hip joint centre. Few studies have focused on the determination of the glenohumeral joint centre. However, no studies have assessed the accuracy and repeatability of functional methods for glenohumeral joint centre.This paper aims at evaluating the accuracy and the repeatability with which the glenohumeral joint rotation centre (GHRC) can be estimated in vivo by functional methods. The reference joint centre is the glenohumeral anatomical centre obtained by medical imaging. Five functional methods were tested: the algorithm of Gamage and Lasenby (2002), bias compensated (Halvorsen, 2003), symmetrical centre of rotation estimation (Ehrig et al., 2006), normalization method (Chang and Pollard, 2007), helical axis (Woltring et al., 1985). The glenohumeral anatomical centre (GHAC) was deduced from the fitting of the humeral head.Four subjects performed three cycles of three different movements (flexion/extension, abduction/adduction and circumduction). For each test, the location of the glenohumeral joint centre was estimated by the five methods. Analyses focused on the 3D location, on the repeatability of location and on the accuracy by computing the Euclidian distance between the estimated GHRC and the GHAC. For all the methods, the error repeatability was inferior to 8.25 mm. This study showed that there are significant differences between the five functional methods. The smallest distance between the estimated joint centre and the centre of the humeral head was obtained with the method of Gamage and Lasenby (2002).     

In vivo motion transmission in the inactive gastrocnemius medialis muscle-tendon unit during ankle and knee joint rotation.

The purposes of this study were: (a) to quantify the influence of passive ankle and knee joint angular displacement on the estimated mechanical and architectural properties of the gastrocnemius medialis (GM) muscle-tendon unit, and (b) to determine the strain distribution of separate structures (tendon, aponeurosis and fascicle) during passive lengthening of the GM muscle-tendon unit at rest. Ten male subjects participated in the study. The passive ankle and knee joint movements were performed on an isokinetic dynamometer. The kinematics of the left leg were recorded using the Vicon 624 system with 8 cameras. Two ultrasound probes were used to examine the elongation of the tendon, the aponeurosis, the fascicles and the angle of pennation of the GM. To calculate the elongation of the GM muscle-tendon unit the Achilles tendon path was reconstructed using a series of small reflective markers. The results show that the passive ankle joint angular displacement has a considerable influence on the elongation of the tendinous and architectural structures of the GM muscle-tendon unit. In contrast, the influence of knee joint angular displacement on the GM fascicle length and pennation angle becomes relevant only at knee angles greater than 144 degrees . The contribution of the tendon to the elongation of the GM muscle-tendon unit at rest is relevant because of its greater resting length in comparison to the resting length of the GM fascicles. The results indicate the existence of slackness in the inactive GM muscle-tendon unit between 121 degrees and 107 degrees ankle angle and between 65 degrees and 144 degrees knee angle.     

In vivo measurement of translational stiffness of rabbit knees

This paper describes the design, evaluation, and preliminary results of a specialized testing device and surgical protocol to determine translational stiffness of a rabbit knee, replicating the clinical anterior drawer test. Coronal-plane transverse pins are inserted through the rabbit leg, two in the tibia and one in the distal femur, to hold and reproducibly position the leg in the device for tests at multiple time points. A linear stepper motor draws the tibia upward then returns to the home position, and a load cell measures the resisting force; force-displacement knee stiffness is then calculated. Initial evaluation of this testing device determined the effects of preconditioning, intra-operator repeatability, rabbit-to-rabbit variability, knee flexion angle (90 degrees vs. 135 degrees ), and anterior cruciate ligament (ACL) sectioning (0%, 25%, 50%, 75%, 100%). Knee stiffness generally decreased as ACL sectioning increased. This testing device and surgical protocol provide an objective and efficient method of determining translational rabbit knee stiffness in vivo, and are being used in an ongoing study to evaluate the effect of knee instability (via partial to complete ACL sectioning) on the development of post-traumatic osteoarthritis.     

In vivo measurement of bending stiffness in fracture healing

Background  

Measurement of the bending stiffness a healing fracture represents a valid variable in the assessment of fracture healing. However, currently available methods typically have high measurement errors, even for mild pin loosening. Furthermore, these methods cannot provide actual values of bending stiffness, which precludes comparisons among individual fractures. Thus, even today, little information is available with regards to the fracture healing pattern with respect to actual values of bending stiffness. Our goals were, therefore: to develop a measurement device that would allow accurate and sensitive measurement of bending stiffness, even in the presence of mild pin loosening; to describe the course of healing in individual fractures; and help to evaluate whether the individual pattern of bending stiffness can be predicted at an early stage of healing.     

Modeling short-range stiffness of feline lower hindlimb muscles

The short-range stiffness (SRS) of skeletal muscles is a critical property for understanding muscle contributions to limb stability, since it represents a muscle's capacity to resist external perturbations before reflexes or voluntary actions can intervene. A number of studies have demonstrated that a simple model, consisting of a force-dependent active stiffness connected in series with a constant passive stiffness, is sufficient to characterize the SRS of individual muscles over the entire range of obtainable forces. The purpose of this study was to determine if such a model could be used to characterize the SRS-force relationship in a number of architecturally distinct muscles. Specifically, we hypothesized that the active and passive stiffness components for a specific muscle can be estimated from anatomical measurements, assuming uniform active and passive stiffness properties across all muscles. This hypothesis was evaluated in six feline lower hindlimb muscle types with different motor unit compositions and architectures. The SRS-force relationships for each muscle type were predicted based on anatomical measurements and compared to experimental data. The model predictions were accurate to within 30%, when uniform scaling properties were assumed across all muscles. Errors were the greatest for the extensor digitorum longus (EDL). When this muscle was removed from the analysis, prediction errors dropped to less than 8%. Subsequent analyses suggested that these errors might have resulted from differences in the tendon elastic modulus, as compared to the other muscles tested.     

Comparison of two methods for in vivo estimation of the glenohumeral joint rotation center (GH-JRC) of the patients with shoulder hemiarthroplasty

Determination of an accurate glenohumeral-joint rotation center (GH-JRC) from marker data is essential for kinematic and dynamic analysis of shoulder motions. Previous studies have focused on the evaluation of the different functional methods for the estimation of the GH-JRC for healthy subjects. The goal of this paper is to compare two widely used functional methods, namely the instantaneous helical axis (IHA) and symmetrical center of rotation (SCoRE) methods, for estimating the GH-JRC in vivo for patients with implanted shoulder hemiarthroplasty. The motion data of five patients were recorded while performing three different dynamic motions (circumduction, abduction, and forward flexion). The GH-JRC was determined using the CT-images of the subjects (geometric GH-JRC) and was also estimated using the two IHA and SCoRE methods. The rotation centers determined using the IHA and SCoRE methods were on average 1.47±0.62 cm and 2.07±0.55 cm away from geometric GH-JRC, respectively. The two methods differed significantly (two-tailed p-value from paired t-Test ～0.02, post-hoc power ～0.30). The SCoRE method showed a significant lower (two-tailed p-value from paired t-Test ～0.03, post-hoc power ～0.68) repeatability error calculated between the different trials of each motion and each subject and averaged across all measured subjects (0.62±0.10 cm for IHA vs. 0.43±0.12 cm for SCoRE). It is concluded that the SCoRE appeared to be a more repeatable method whereas the IHA method resulted in a more accurate estimation of the GH-JRC for patients with endoprostheses.     

In vivo motion of the scaphotrapezio-trapezoidal (STT) joint

It has previously been shown that the articulation of the scaphotrapezio-trapezoidal (STT) joint can be modeled such that the trapezoid and trapezium are tightly linked and move together on a single path relative to the scaphoid during all directions of wrist motion. The simplicity of such a model is fascinating, but it leaves unanswered why two distinct carpal bones would have a mutually articulating surface if there were no motion between them, and how such a simplistic model of STT joint motion translates into the more complex global carpal motion. We performed an in vivo analysis of the trapezoids and trapeziums of 10 subjects (20 wrists) using a markerless bone registration technique. In particular, we analyzed the centroid spacing, centroid displacements, kinematics, and postures of the trapezoid and trapezium relative to the scaphoid. We found that, on a gross level, the in vivo STT motion was consistent with that reported in vitro. In addition, we found that the magnitude of trapezoid and trapezium motion was dependent upon the direction of wrist motion. However, we also found that when small rotations and displacements are considered there were small but statistically significant relative motions between the trapezoid and trapezium (0.4 mm in maximum flexion, 0.3 mm in radial deviation and at least 10 degrees in flexion extension and ulnar deviation) as well as slight off-path rotations. The results of this study indicate that the STT joint should be considered a mobile joint with motions more complex than previously appreciated.     

Cycling cross-bridges increase myocardial stiffness at submaximal levels of Ca2+ activation

Permeabilized multicellular preparations of canine myocardium were subjected to controlled length changes to investigate the extent to which cross-bridges augment passive stiffness components in myocardium at low levels of Ca(2+) activation. When the preparations were immersed in pCa 9.0 solution (negligible free [Ca(2+)]) they behaved as simple elastic systems (i.e., tension increased proportionately with length). In contrast, when the muscles were stretched in Ca(2+) activating solutions, tension rose much more rapidly during the initial phase of the movement than thereafter. Several lines of evidence suggest that the nonlinear response represents the displacement of populations of cycling cross-bridges that are perturbed by interfilamentary movement and take some time to recover. 1), The stiffness of the initial phase increased proportionately with the level of Ca(2+) activation. 2), The magnitude of the short-range response increased with stretch velocity. 3), The initial response was reversibly reduced by 5-mM 2,3-butanedione monoxime, a known cross-bridge inhibitor. The initial stiffness of the passive elastic (pCa 9.0) response was equivalent to the Ca(2+) dependent component at 2% (pCa approximately 6.2) of the maximal (pCa 4.5) level. These results suggest that cross-bridges may significantly affect diastolic chamber stiffness.     

Translational stiffness of the replaced shoulder joint

Results after a total shoulder arthroplasty in rheumatoid patients are poor, indicated by loosening of especially the glenoid component, bad joint functionality and the possibility of a joint dislocation. The failure mechanisms behind this are multiple, including patient, surgical and design factors. These results must be improved. At present, the optimal geometrical prosthesis component design, focused on joint conformity and constraint, still has to be investigated.

Proper understanding of the effect of geometrical design parameters on the theoretical relationship between joint translations and joint forces may contribute to improved designs. The main objective of this study is to theoretically describe this relationship and to investigate the joint translational stiffness, which can be used to investigate the effect of design parameters on joint motion. Joint translational stiffness is the gradient of the subluxation force with respect to the humeral head displacement.

For this static analysis a potential field is introduced, as the result of a joint compressive force (muscle forces) and a subluxation force (external forces). The positive and negative stiffness during articulation inside and subluxation outside the glenoid cavity, lead to stable and unstable equilibrium joint positions, respectively. A most lateral position of the humeral head centre coincides with a zero subluxation force; at this position the humerus is dislocated and a restoring force is needed to relocate the humeral head.

Joint conformity and compression force influence the joint translational stiffness during articulation inside the glenoid cavity, whereas during articulating outside the glenoid cavity this is influenced by the joint compression force and humeral radius of curvature. The glenoid radius of curvature influences the contact point and, in combination with the glenoid superior–inferior chord length, it also influences the constraintness angle, which influences the maximum allowable subluxation load to prevent a joint dislocation. This constraintness angle together with the joint conformity also influences maximum joint translations before articulation outside the glenoid cavity. Furthermore, the sign of the joint translational stiffness determines the stability of shoulder motion, which is stable and unstable if this stiffness is positive and negative, respectively.     

In vivo ankle joint kinematics from dynamic magnetic resonance imaging using a registration-based framework

In this paper, we propose a method for non-invasively measuring three-dimensional in vivo kinematics of the ankle joint from a dynamic MRI acquisition of a single range-of-motion cycle. The proposed approach relies on an intensity-based registration method to estimate motion from multi-plane dynamic MRI data. Our approach recovers not only the movement of the skeleton, but also the possibly non-rigid temporal deformation of the joint. First, the rigid motion of each ankle bone is estimated. Second, a four-dimensional (3D+time) high-resolution dynamic MRI sequence is estimated through the use of the log-euclidean framework for the computation of temporal dense deformation fields. This approach has been then applied and evaluated on in vivo dynamic MRI data acquired for a pilot study on six healthy pediatric cohort in order to establish in vivo normative joint biomechanics. Results demonstrate the robustness of the proposed pipeline and very promising high resolution visualization of the ankle joint.     

The stiffness of rabbit skeletal actomyosin cross-bridges determined with an optical tweezers transducer.

Muscle contraction is brought about by the cyclical interaction of myosin with actin coupled to the breakdown of ATP. The current view of the mechanism is that the bound actomyosin complex (or "cross-bridge") produces force and movement by a change in conformation. This process is known as the "working stroke." We have measured the stiffness and working stroke of a single cross-bridge (kappa xb, dxb, respectively) with an optical tweezers transducer. Measurements were made with the "three bead" geometry devised by Finer et al. (1994), in which two beads, supported in optical traps, are used to hold an actin filament in the vicinity of a myosin molecule, which is immobilized on the surface of a third bead. The movements and forces produced by actomyosin interactions were measured by detecting the position of both trapped beads. We measured, and corrected for, series compliance in the system, which otherwise introduces large errors. First, we used video image analysis to measure the long-range, force-extension property of the actin-to-bead connection (kappa con), which is the main source of "end compliance." We found that force-extension diagrams were nonlinear and rather variable between preparations, i.e., end compliance depended not only upon the starting tension, but also upon the F-actin-bead pair used. Second, we measured kappa xb and kappa con during a single cross-bridge attachment by driving one optical tweezer with a sinusoidal oscillation while measuring the position of both beads. In this way, the bead held in the driven optical tweezer applied force to the cross-bridge, and the motion of the other bead measured cross-bridge movement. Under our experimental conditions (at approximately 2 pN of pretension), connection stiffness (kappa con) was 0.26 +/- 0.16 pN nm-1. We found that rabbit heavy meromyosin produced a working stroke of 5.5 nm, and cross-bridge stiffness (kappa xb) was 0.69 +/- 0.47 pN nm-1.     

Contribution of muscle short-range stiffness to initial changes in joint kinetics and kinematics during perturbations to standing balance: A simulation study

Simulating realistic musculoskeletal dynamics is critical to understanding neural control of muscle activity evoked in sensorimotor feedback responses that have inherent neural transmission delays. Thus, the initial mechanical response of muscles to perturbations in the absence of any change in muscle activity determines which corrective neural responses are required to stabilize body posture. Muscle short-range stiffness, a history-dependent property of muscle that causes a rapid and transient rise in muscle force upon stretch, likely affects musculoskeletal dynamics in the initial mechanical response to perturbations. Here we identified the contributions of short-range stiffness to joint torques and angles in the initial mechanical response to support surface translations using dynamic simulation. We developed a dynamic model of muscle short-range stiffness to augment a Hill-type muscle model. Our simulations show that short-range stiffness can provide stability against external perturbations during the neuromechanical response delay. Assuming constant muscle activation during the initial mechanical response, including muscle short-range stiffness was necessary to account for the rapid rise in experimental sagittal plane knee and hip joint torques that occurs simultaneously with very small changes in joint angles and reduced root mean square errors between simulated and experimental torques by 56% and 47%, respectively. Moreover, forward simulations lacking short-range stiffness produced unreasonably large joint angle changes during the initial response. Using muscle models accounting for short-range stiffness along with other aspects of history-dependent muscle dynamics may be important to advance our ability to simulate inherently unstable human movements based on principles of neural control and biomechanics.     

In vivo gleno-humeral joint loads during forward flexion and abduction

To improve design and preclinical test scenarios of shoulder joint implants as well as computer-based musculoskeletal models, a precise knowledge of realistic loads acting in vivo is necessary. Such data are also helpful to optimize physiotherapy after joint replacement and fractures. This is the first study that presents forces and moments measured in vivo in the gleno-humeral joint of 6 patients during forward flexion and abduction of the straight arm. The peak forces and, even more, the maximum moments varied inter-individually to a considerable extent. Forces of up to 238%BW (percent of body weight) and moments up to 1.74%BWm were determined. For elevation angles of less than 90° the forces agreed with many previous model-based calculations. At higher elevation angles, however, the measured loads still rose in contrast to the analytical results. When the exercises were performed at a higher speed, the peak forces decreased. The force directions relative to the humerus remained quite constant throughout the whole motion. Large moments in the joint indicate that friction in shoulder implants is high if the glenoid is not replaced. A friction coefficient of 0.1-0.2 seems to be realistic in these cases.     

In vivo measurement of the dynamic 3-D kinematics of the ovine stifle joint

The ovine stifle joint is a promising animal model for investigation of joint mechanobiology. A method for in vivo measurement of dynamic 3-D kinematics of the ovine stifle joint is described (accuracy: 0.36 +/- 0.39 mm). Inter-subject variability in kinematics is greater than both intra-subject and inter-session variability. For future studies in which joint kinematics are measured prior to and following controlled orthopaedic interventions, pooling of data should be avoided and each subject should act as its own control.     

In vivo estimation of tracheal distensibility and hysteresis in normal adults

We used the acoustic reflection technique to measure the cross-sectional area of tracheal and bronchial airway segments of eight healthy adults. We measured airway area during a slow continuous expiration from total lung capacity (TLC) to residual volume (RV) and during inspiration back to TLC. Lung volume and esophageal pressure were monitored continuously during this quasi-static, double vital capacity maneuver. We found that 1) the area of tracheal and bronchial segments increases with increasing lung volume and transpulmonary pressure, 2) the trachea and bronchi exhibit a variable degree of hysteresis, which may be greater or less than that of the lung parenchyma, 3) extrathoracic and intrathoracic tracheal segments behaved as if they were subjected to similar transmural pressure and had similar elastic properties, and 4) specific compliance (means +/- SE) for the intrathoracic and bronchial segments, calculated with the assumption that transmural pressure is equal to the transpulmonary pressure, was significantly (P less than 0.05) smaller for the intrathoracic segment than for the bronchial segment: (2.1 +/- 2.0) X 10(-3) cmH2O-1 vs. (9.1 +/- 2.1) X 10(-3) cmH2O-1. Direct measurements of airway area using acoustic reflections are in good agreement with previous estimates of airway distensibility in vivo, obtained by radiography or endoscopy.     

In vivo estimation of elastic heterogeneity in an infarcted human heart

In myocardial infarction, muscle tissue of the heart is damaged as a result of ceased or severely impaired blood flow. Survivors have an increased risk of further complications, possibly leading to heart failure. Material properties play an important role in determining post-infarction outcome. Due to spatial variation in scarring, material properties can be expected to vary throughout the tissue of a heart after an infarction. In this study we propose a data assimilation technique that can efficiently estimate heterogeneous elastic material properties in a personalized model of cardiac mechanics. The proposed data assimilation is tested on a clinical dataset consisting of regional left ventricular strains and in vivo pressures during atrial systole from a human with a myocardial infarction. Good matches to regional strains are obtained, and simulated equi-biaxial tests are carried out to demonstrate regional heterogeneities in stress–strain relationships. A synthetic data test shows a good match of estimated versus ground truth material parameter fields in the presence of no to low levels of noise. This study is the first to apply adjoint-based data assimilation to the important problem of estimating cardiac elastic heterogeneities in 3-D from medical images.     

In vivo determination of the direction of rotation and moment-angle relationship of individual elbow muscles.

The direction of rotation (DOR) of individual elbow muscles, defined as the direction in which a muscle rotates the forearm relative to the upper arm in three-dimensional space, was studied in vivo as a function of elbow flexion and forearm rotation. Electrical stimulation was used to activate an individual muscle selectively, and the resultant flexion-extension, supination-pronation, and varus-valgus moments were used to determine the DOR. Furthermore, multi-axis moment-angle relationships of individual muscles were determined by stimulating the muscle at a constant submaximal level across different joint positions, which was assumed to result in a constant level of muscle activation. The muscles generate significant moments about axes other than flexion-extension, which is potentially important for actively controlling joint movement and maintaining stability about all axes. Both the muscle DOR and the multi axis moments vary with the joint position systematically. Variations of the DOR and moment-angle relationship across muscle twitches of different amplitudes in a subject were small, while there were considerable variations between subjects.