Validation of a single camera three-dimensional motion tracking system

The ability to analyze human movement is an essential tool of biomechanical analysis for both sport and clinical applications. Traditional 3D motion capture technology limits the feasibility of large scale data collections and therefore the ability to address clinical questions. Ideally, the measurement system/protocol should be non-invasive, mobile, generate nearly instantaneous feedback to the clinician and athlete, and be relatively inexpensive. The retro-grate reflector (RGR) is a new technology that allows for three-dimensional motion capture using a single camera. Previous studies have shown that orientation and position information recorded by the RGR system has high measurement precision and is strongly correlated with a traditional multi-camera system across a series of static poses. The technology has since been refined to record moving pose information from multiple RGR targets at sampling rates adequate for assessment of athletic movements. The purpose of this study was to compare motion data for a standard athletic movement recorded simultaneously with the RGR and multi-camera (Motion Analysis Eagle) systems. Nine subjects performed three single-leg land-and-cut maneuvers. Thigh and shank three-dimensional kinematics were collected with the RGR and Eagle camera systems simultaneously at 100 Hz. Results showed a strong agreement between the two systems in all three planes, which demonstrates the ability of the RGR system to record moving pose information from multiple RGR targets at a sampling rate adequate for assessment of human movement and supports the ability to use the RGR technology as a valid 3D motion capture system.     

Oblique scaling: an algorithm to correct for a non-perpendicular camera view in tendon strain measurements

Image distortion due to a non-perpendicular camera view introduces serious errors in tendon and ligament strain measurements when data are recorded using a single camera. These errors can be corrected with the oblique scaling algorithm using two pairs of scaling markers attached to the tendon surface. Computer simulations show that application of this algorithm reduces errors over 100 times to less than 0.06%. The method is relatively insensitive to measurement errors in the scaling marker distance but sensitive to the accuracy of alignment of the scaling markers. It can be concluded that the oblique scaling algorithm eliminates the influences of a non-perpendicular camera view in single-camera tendon and ligament strain measurements.     

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.     

An optical platform for cell tracking in adult zebrafish

Adult zebrafish are being increasingly used as a model in cancer and stem cell research. Here we describe an integrated optical system that combines a laser scanning confocal microscope (LSCM) and an in vivo flow cytometer (IVFC) for simultaneous visualization and cell quantification. The system is set up specifically for non-invasive tracking of both stationary and circulating cells in adult zebrafish (casper) that have been engineered to be optically transparent. Confocal imaging in this instrument serves the dual purpose of visualizing fish tissue microstructure and an imaging-based guide to locate a suitable vessel for quantitative analysis of circulating cells by IVFC. We demonstrate initial testing of this novel instrument by imaging the transparent adult zebrafish casper vasculature and tracking circulating cells in CD41-GFP/Gata1-DsRed transgenic fish whose thrombocytes/erythrocytes express the green and red fluorescent proteins. In vivo measurements allow cells to be tracked under physiological conditions in the same fish over time, without drawing blood samples or sacrificing animals. We also discuss the potential applications of this instrument in biomedical research.     

Comparative accuracy of radiostereometric and optical tracking systems

This study aims to quantify and compare the accuracy of traditional radiostereometric analysis (RSA), fluoroscopic RSA (fRSA), and optical tracking systems. Three phantoms were constructed, each having three stainless steel spheres and three reflective markers. One phantom was mounted to the base of a precision cross-slide table, one to the base of a precision rotation table, and the third was mounted to each moveable tabletop. Two dial-gauges, rigidly mounted to the cross-slide table and rotation table, quantified translations and rotations. Two fluoroscopy units placed orthogonally tracked the steel spheres while a four-camera optical motion capture system tracked the reflective markers in three-dimensional space. RSA was performed with both digital radiography and fluoroscopy. Three axes of translation were tested: parallel to one fluoroscopy image, parallel to the other fluoroscopy image, and at approximately 45° to each image. One axis of rotation was tested. Intraclass correlation coefficients indicated excellent agreement between the actual (dial-gauge) and measured translations for all modalities (ICCs>0.99) and excellent agreement between actual and measured rotations for RSA and fRSA (ICCs>0.99). Standard errors of measurement ranged from 0.032 mm and 0.121° for RSA, to 0.040 mm and 0.229° for fRSA, and to 0.109 mm and 0.613° for optical tracking. Differences between actual and measured translations along the 45° axis were significantly smaller than the two parallel axes. These findings suggest that under ideal conditions, accuracy of fRSA is comparable to traditional RSA, and superior to optical tracking. Accuracy is highest when measured at 45° to the fluoroscopy units.     

On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.     

Ultrasound tracking for intra-fractional motion compensation in radiation therapy

Modern techniques as ion beam therapy or 4D imaging require precise target position information. However, target motion particularly in the abdomen due to respiration or patient movement is still a challenge and demands methods that detect and compensate this motion. Ultrasound represents a non-invasive, dose-free and model-independent alternative to fluoroscopy, respiration belt or optical tracking of the patient surface. Thus, ultrasound based motion tracking was integrated into irradiation with actively scanned heavy ions. In a first in vitro experiment, the ultrasound tracking system was used to compensate diverse sinusoidal target motions in two dimensions. A time delay of ∼200 ms between target motion and reported position data was compensated by a prediction algorithm (artificial neural network). The irradiated films proved feasibility of the proposed method. Furthermore, a practicable and reliable calibration workflow was developed to enable the transformation of ultrasound tracking data to the coordinates of the treatment delivery or imaging system – even if the ultrasound probe moves due to respiration. A first proof of principle experiment was performed during time-resolved positron emission tomography (4DPET) to test the calibration workflow and to show the accuracy of an ultrasound based motion tracking in vitro. The results showed that optical ultrasound tracking can reach acceptable accuracies and encourage further research.     

Dipping cone to correct optical distortions at liquid surfaces.

A dipping cone attachment for use with a long-working-distance objective is described. The device eliminates degradation of the microscope image which occurs when microelectrodes are applied to single muscle fibers in vitro.     

An algorithm combining discrete and continuous methods for optical mapping.

Optical mapping is a novel technique for generating the restriction map of a DNA molecule by observing many single, partially digested copies of it, using fluorescence microscopy. The real-life problem is complicated by numerous factors: false positive and false negative cut observations, inaccurate location measurements, unknown orientations, and faulty molecules. We present an algorithm for solving the real-life problem. The algorithm combines continuous optimization and combinatorial algorithms applied to a nonuniform discretization of the data. We present encouraging results on real experimental data and on simulated data.     

Human motion tracking for rehabilitation—A survey

Human motion tracking for rehabilitation has been an active research topic since the 1980s. It has been motivated by the increased number of patients who have suffered a stroke, or some other motor function disability. Rehabilitation is a dynamic process which allows patients to restore their functional capability to normal. To reach this target, a patients’ activities need to be continuously monitored, and subsequently corrected. This paper reviews recent progress in human movement detection/tracking systems in general, and existing or potential application for stroke rehabilitation in particular. Major achievements in these systems are summarised, and their merits and limitations individually presented. In addition, bottleneck problems in these tracking systems that remain open are highlighted, along with possible solutions.     

Accelerometer and rate gyroscope measurement of kinematics: an inexpensive alternative to optical motion analysis systems

A general-purpose system to obtain the kinematics of gait in the sagittal plane based on body-mounted sensors was developed. It consisted of four uniaxial seismic accelerometers and one rate gyroscope per body segment. Tests were done with 10 young healthy volunteers, walking at five different speeds on a treadmill. In order to study the system's accuracy, measurements were made with an optic, passive-marker system and the body-mounted system, simultaneously. In all the comparison cases, the curves obtained from the two systems were very close, showing root mean square errors representing <7% full range in 75% of the cases (overall mean 6.64%, standard deviation 4.13%) and high coefficients of multiple correlation in 100% of cases (overall mean 0.9812, standard deviation 0.02). Calibration of the body-mounted system is done against gravity. The body-mounted sensors do not hinder natural movement. The calculation algorithms are computationally demanding and only are applicable off-line. The body-mounted sensors are accurate, inexpensive and portable and allow long-term recordings in clinical, sport and ergonomics settings.     

Blood pressure tracking systems and their application to biofeedback

Two automatic electronic systems for tracking diastolic or systolic blood pressure (BP) and their use in biofeedback experiments are described. Both systems are based on the use of an arm cuff and the recording of Korotkoff sounds with a microphone. An electronic control system receives input from the microphone and provides output to several solenoid valves that control compressed airflow to the cuff. For one of the tracking systems we devised, the cuff is alternately inflated for 45 sec and deflated for 45 sec. During inflation, small increments and decrements in cuff pressure, based on the occurrence of Korotkoff sounds, are used to track BP. The other tracking system is slower but provides more continuous measurements: The cuff is alternately inflated to approximately the BP level for 5 sec and then deflated for 5 sec. During each inflation, the number of Korotkoff sounds is recorded by the system and according to this number, the amount of inflation on the next trial is automatically adjusted so that the cuff pressure follows BP. Both systems have been used successfully in biofeedback applications.The authors thank Mark Goldman for helpful discussions of the techniques, and Maureen Delphia and Dianne Auty for their assistance in the preparation of this paper. This work was partially supported by a grant-in-aid from the Michigan Heart Association.     

An operative approach to correct CD spectra distortions due to absorption flattening

We discuss the influence of absorption flattening (AF) on CD spectra, aiming at finding a simple way to compensate the induced distortions. A simple algebraic formalism is proposed based on an unconventional measuring approach, which makes use of a commercial unit. Validation of the proposed compensation method for AF is conducted not only on the already studied CD Vis spectral region of a Co chiral complex with the use of an AF emulator, but also on the far UV CD spectra of poly-L-glutamic acid suspensions with different turbidity levels. Comparison with some correction factors proposed in the literature is presented.     

Advances in CRISPR-Cas systems for RNA targeting,tracking and editing

Clustered regularly interspaced short palindromic repeat (CRISPR)/CRISPR-associated protein (Cas) systems, especially type II (Cas9) systems, have been widely used in gene/genome targeting. Modifications of Cas9 enable these systems to become platforms for precise DNA manipulations. However, the utilization of CRISPR-Cas systems in RNA targeting remains preliminary. The discovery of type VI CRISPR-Cas systems (Cas13) shed light on RNA-guided RNA targeting. Cas13d, the smallest Cas13 protein, with a length of only ~930 amino acids, is a promising platform for RNA targeting compatible with viral delivery systems. Much effort has also been made to develop Cas9, Cas13a and Cas13b applications for RNA-guided RNA targeting. The discovery of new RNA-targeting CRISPR-Cas systems as well as the development of RNA-targeting platforms with Cas9 and Cas13 will promote RNA-targeting technology substantially. Here, we review new advances in RNA-targeting CRISPR-Cas systems as well as advances in applications of these systems in RNA targeting, tracking and editing. We also compare these Cas protein-based technologies with traditional technologies for RNA targeting, tracking and editing. Finally, we discuss remaining questions and prospects for the future.     

Optimised motion tracking for positron emission tomography studies of brain function in awake rats

Positron emission tomography (PET) is a non-invasive molecular imaging technique using positron-emitting radioisotopes to study functional processes within the body. High resolution PET scanners designed for imaging rodents and non-human primates are now commonplace in preclinical research. Brain imaging in this context, with motion compensation, can potentially enhance the usefulness of PET by avoiding confounds due to anaesthetic drugs and enabling freely moving animals to be imaged during normal and evoked behaviours. Due to the frequent and rapid motion exhibited by alert, awake animals, optimal motion correction requires frequently sampled pose information and precise synchronisation of these data with events in the PET coincidence data stream. Motion measurements should also be as accurate as possible to avoid degrading the excellent spatial resolution provided by state-of-the-art scanners. Here we describe and validate methods for optimised motion tracking suited to the correction of motion in awake rats. A hardware based synchronisation approach is used to achieve temporal alignment of tracker and scanner data to within 10 ms. We explored the impact of motion tracker synchronisation error, pose sampling rate, rate of motion, and marker size on motion correction accuracy. With accurate synchronisation (<100 ms error), a sampling rate of >20 Hz, and a small head marker suitable for awake animal studies, excellent motion correction results were obtained in phantom studies with a variety of continuous motion patterns, including realistic rat motion (<5% bias in mean concentration). Feasibility of the approach was also demonstrated in an awake rat study. We conclude that motion tracking parameters needed for effective motion correction in preclinical brain imaging of awake rats are achievable in the laboratory setting. This could broaden the scope of animal experiments currently possible with PET.