Non-contact measuring of small translations and rotations in all degrees of displacement]

The investigation of biomechanical problems often makes it necessary to measure displacements and rotations in space. An easy-to-handle optical measuring system has been developed that permits non-contact simultaneous determination of small translations and rotations in all degrees of freedom. Three two-dimensional light-sensitive sensors (PSD [position sensing detector] elements) were arranged spatially to form a measuring sensor. After processing in a computer, the signals definitively determine relative shift and rotation. Thus it is possible, for example, to measure the relative movement between two adjacent spinal vertebrae under different loads.     

连栽第1和第2代杉木人工林养分循环的比较

森林生态系统的养分循环是生态系统的重要功能过程之一,直接影响着森林的生产力,很大程度上影响和制约着林地的肥力水平,而且人工林连栽地力衰退和生产力下降现象普遍存在,寻求杉木林连栽两代杉木人工林养分循环差异与连栽林分生产力下降的关系,无疑具有重要的现实意义。利用30多年连续定位的测定数据,分析了连栽第1、2代杉木人工林在物质生产养分利用有效性、生物地球化学循环、地球化学循环的差异。结果表明,杉木速生阶段,第2代林每生产1 t干物质需要的养分比第1代林多1.58-3.29 kg,干材生长阶段,第2代林每生产1t所需养分比第1代林多4.23-5.92kg;速生阶段生物地球化学循环的养分利用系数第2代林比第1代林分下降19.7%-22.8%,养分循环系数下降12.8%-15.6%,干材生长阶段养分利用系数比第1代林分下降35.3%-36.2%,养分循环系数下降23.2%-27.0%,养分周转利用的生物地球化学循环功能第2代林比第1代林差;由干材生长进入成熟阶段的生长期内,伴随水文学过程的养分地球化学循环中,第2代杉木人工林生态系统的养分积累的地球化学循环的能力下降,养分流失率是第1代林的2倍左右,养分的积累率还不到第1代林的60%,对森林地力的维持和林木生长都是不利的。从生态系统水平上定位研究,定量分析了杉木连栽两代人工林养分循环功能过程,研究成果为我国南方人工林持续经营措施的制定提供了理论指导和科学依据。     

Scapular taping alters kinematics in asymptomatic subjects

BackgroundScapular taping is frequently used in the management of shoulder pain and as a part of injury prevention strategies in sports. It is believed to alter scapular kinematics and restore normal motion. However, there is little evidence to support its use. The aim of the study was to investigate the effect of shoulder taping on the scapular kinematics of asymptomatic subjects.MethodThirteen asymptomatic subjects performed elevations in the sagittal and scapular planes with no tape and after the application of tape. A motion tracking system and a scapula locator method were used to measure the shoulder movement. Co-ordinate frames were defined for the thorax, humerus and scapula and Euler angles were used to calculate joints rotations.ResultsScapular taping increased the scapular external and upward rotations and posterior tilt in elevations in the sagittal plane (p < 0.001). In the scapular plane, taping increased scapular external rotation (p < 0.05).ConclusionsTaping affects scapulothoracic kinematics in asymptomatic subjects. The effect may be different for different planes of movement. The findings have implications on the use of taping as a preventive measure in high-risk groups. Further work is needed to assess the effect of taping on symptomatic populations.     

Habituation of horizontal eye nystagmus in pigeon during alternation of central and eccentric rotations

Intact pigeons were rotated in the horizontal plane in the dark in different positions relatively to the rotation axis. At central rotations, the pigeon's head was in the rotation axis whereas at eccentric rotations it was displaced from the axis. Series of central and eccentric rotations were alternated. Each series consisted of 2-5 rotations using angular velocity trapezoids. All stimuli producing habituation were used at most 14 times each. Eccentric rotations did not prevent a gradual decrease of peak velocities of the slow component of primary nystagmus on transition from one series of central rotations to another in 17 pigeons (group 1). The increase of peak velocities was observed in 2 pigeons (group 2). In group 1, a direct dependence among alterations of this parameter of primary nystagmus, modifications of its duration, and variations of peak velocities of secondary nystagmus, were observed. If two identical stimuli did not follow in sequence directly, the effect of the second one produced same nystagmus changes as were observed in present pigeon by comparison of the first and last responses in the series of the central rotations. If they follow one by one, in many cases the second stimulus in the pair produced an increase of peak velocity of primary and secondary nystagmus and rise of delay of the point of primary nustagmus peak velocity. These variations were not random (probability, > 95%).     

Light activates rotations of bacteriorhodopsin in the purple membrane

To investigate how a photoactivated chromophore drives the proton pump mechanism of bacteriorhodopsin, we have observed how the chromophore rotates during the photocyle. To do this, we examined the dichroism induced in aqueous suspensions of purple membrane fragments by flashes of linearly polarized light. We find that the flash stimulates both the photocycling chromophores and their noncycling neighbors to undergo large (greater than 10 degrees - 20 degrees) rotations within the membrane during the photocycle, and that these two chromophore populations undergo distinctly different sequences of rotations. All these rotations could be eliminated by glutaraldehyde fixation as well as by embedding unfixed fragments in polyacrylamide or agarose gels. Thus, in these immbolizing preparations the chromophore can photocycle without rotating inside a bacteriorhodopsin monomer by more than our detection limit of 2 degrees - 5 degrees. The large rotations we observed in aqueous suspensions of purple membranes were probably due to rotations of entire protein monomers. The process by which a photocycling monomer causes its noncycling neighbors to rotate may help explain the highly cooperative behavior bacteriorhodopsin exhibits when it is aggregated into crystalline arrays of trimers.     

A simplified radiographic method for measuring bone-component motion in total knees.

Measurement of the relative motion between an implant and the surrounding bone over different time periods is valuable for assessing and comparing the component stability and predicting the potential future outcome. The RSA method, where small beads are implanted in the bone adjacent to the component, can measure implant-bone position to an accuracy of about 0.1 mm. However, the method involves special radiographic views and analytical software, not readily available. For purposes of component assessment on a more routine basis and for multi-centre trials, a method was developed where standard A-P and M-L radiographs were used. Computer software was written which estimated the out-of-plane rotations of the component relative to the plane of the film, and then carried out corrections to enhance the accuracy of calculation of the bead heights relative to the component. The theoretical errors were shown to be less than 0.04 mm for the expected range of out-of-plane rotations. When radiographs of components in simulated bones were taken at a range of rotations, the 95% confidence limits for axial displacement were found to be less than +0.3 mm, and for rotation in the plane to be 0.6 degrees. This indicated that the method was useful for studying knee components where the sinkage could reach a range of 0.5-2 mm in a 2 year period.     

A new model-based RSA method validated using CAD models and models from reversed engineering

Roentgen stereophotogrammetric analysis (RSA) was developed to measure micromotion of an orthopaedic implant with respect to its surrounding bone. A disadvantage of conventional RSA is that it requires the implant to be marked with tantalum beads. This disadvantage can potentially be resolved with model-based RSA, whereby a 3D model of the implant is used for matching with the actual images and the assessment of position and rotation of the implant. In this study, a model-based RSA algorithm is presented and validated in phantom experiments. To investigate the influence of the accuracy of the implant models that were used for model-based RSA, we studied both computer aided design (CAD) models as well as models obtained by means of reversed engineering (RE) of the actual implant. The results demonstrate that the RE models provide more accurate results than the CAD models. If these RE models are derived from the very same implant, it is possible to achieve a maximum standard deviation of the error in the migration calculation of 0.06 mm for translations in x- and y-direction and 0.14 mm for the out of plane z-direction, respectively. For rotations about the y-axis, the standard deviation was about 0.1 degrees and for rotations about the x- and z-axis 0.05 degrees. Studies with clinical RSA-radiographs must prove that these results can also be reached in a clinical setting, making model-based RSA a possible alternative for marker-based RSA.     

Design and demonstration of a new instrumented spatial linkage for use in a dynamic environment: application to measurement of ankle rotations during snowboarding

Joint injuries during sporting activities might be reduced by understanding the extent of the dynamic motion of joints prone to injury during maneuvers performed in the field. Because instrumented spatial linkages (ISLs) have been widely used to measure joint motion, it would be useful to extend the functionality of an ISL to measure joint motion in a dynamic environment. The objectives of the work reported by this paper were to (i) design and construct an ISL that will measure dynamic joint motion in a field environment, (ii) calibrate the ISL and quantify its static measurement error, (iii) quantify dynamic measurement error due to external acceleration, and (iv) measure ankle joint complex rotation during snowboarding maneuvers performed on a snow slope. An "elbow-type" ISL was designed to measure ankle joint complex rotation throughout its range (+/-30 deg for flexion/extension, +/-15 deg for internal/external rotation, and +/-15 deg for inversion/eversion). The ISL was calibrated with a custom six degree-of-freedom calibration device generally useful for calibrating ISLs, and static measurement errors of the ISL also were evaluated. Root-mean-squared errors (RMSEs) were 0.59 deg for orientation (1.7% full scale) and 1.00 mm for position (1.7% full scale). A custom dynamic fixture allowed external accelerations (5 g, 0-50 Hz) to be applied to the ISL in each of three linear directions. Maximum measurement deviations due to external acceleration were 0.05 deg in orientation and 0.10 mm in position, which were negligible in comparison to the static errors. The full functionality of the ISL for measuring joint motion in a field environment was demonstrated by measuring rotations of the ankle joint complex during snowboarding maneuvers performed on a snow slope.     

Animal navigation: the difficulty of moving in a straight line

In principle, there are two strategies for navigating a straight course. One is to use an external directional reference and continually reorienting with reference to it, while the other is to infer body rotations from internal sensory information only. We show here that, while the first strategy will enable an animal or mobile agent to move arbitrarily far away from its starting point, the second strategy will not do so, even after an infinite number of steps. Thus, an external directional reference—some form of compass—is indispensable for ensuring progress away from home. This limitation must place significant constraints on the evolution of biological navigation systems. Some specific examples are discussed. An important corollary arising from the analysis of compassless navigation is that the maximum expected displacement represents a robust measure of the straightness of a path.     

The URMS-RMS hybrid algorithm for fast and sensitive local protein structure alignment.

We present an efficient and sensitive hybrid algorithm for local structure alignment of a pair of 3D protein structures. The hybrid algorithm employs both the URMS (unit-vector root mean squared) metric and the RMS metric. Our algorithm searches efficiently the transformation space using a fast screening protocol; initial transformations (rotations) are identified using the URMS algorithm. These rotations are then clustered and an RMS-based dynamic programming algorithm is invoked to find the maximal local similarities for representative rotations of the clusters. Statistical significance of the alignments is estimated using a model that accounts for both the score of the match and the RMS. We tested our algorithm over the SCOP classification of protein domains. Our algorithm performs very well; its main advantages are that (1) it combines the advantages of the RMS and the URMS metrics, (2) it searches extensively the transformation space, (3) it detects complex similarities and structural repeats, and (4) its results are symmetric. The software is available for download at biozon.org/ftp/software/urms/.     

Coordinated movements of the head and body during orienting behaviour in the praying mantis Tenodera aridifolia

The visual orienting behaviour towards prey in the free-moving mantis was investigated with a high-speed camera. The orienting behaviour consisted of head, prothorax, and abdomen rotations. Coordinated movements of these body parts in the horizontal plane were analysed frame-by-frame. Rotations of these body parts were initiated with no or slight (≤40 ms) differences in timing. The initiation timing of prothorax-abdomen rotation was affected by its initial angle before the onset of orienting. There were positive correlations in amplitude among head-prothorax, prothorax-abdomen, and abdomen rotations. The ratio of these rotations to total gaze rotation was affected by the initial prothorax-abdomen angle before the onset of orienting. Our data suggest that coordinated movements of the head, prothorax, and abdomen during orienting are ballistic events and are pre-determined according to visual and proprioceptive information before the onset of orienting.     

The accuracy of measuring glenohumeral motion with a surface humeral cuff

Conclusions about normal and pathologic shoulder motion are frequently made from studies using skin surface markers, yet accuracy of such sensors representing humeral motion is not well known. Nineteen subjects were investigated with flock of birds electromagnetic sensors attached to transcortical pins placed into the scapula and humerus, and a thermoplastic cuff secured on the arm. Subjects completed two repetitions of raising and lowering the arm in the sagittal, scapular and coronal planes, as well as shoulder internal and external rotation with the elbow at the side and abducted to 90°. Humeral motion was recorded simultaneously from surface and bone fixed sensors. The average magnitude of error was calculated for the surface and bone fixed measurements throughout the range of motion. ANOVA tested for differences across angles of elevation, raising and lowering, and differences in body mass index. For all five motions tested, the plane of elevation rotation average absolute error ranged from 0-2°, while the humeral elevation rotation average error ranged from 0-4°. The axial rotation average absolute error was much greater, ranging from 5° during elevation motions to approaching 30° at maximum excursion of internal/external rotation motions. Average absolute error was greater in subjects with body mass index greater than 25. Surface sensors are an accurate way of measuring humeral elevation rotations and plane of elevation rotations. Conversely, there is a large amount of average error for axial rotations when using a humeral cuff to measure glenohumeral internal/external rotation as the primary motion.     

Are coupled rotations in the lumbar spine largely due to the osseo-ligamentous anatomy?--a modeling study

Prior studies have found that primary rotations in the lumbar spine are accompanied by coupled out-of-plane rotations. However, it is not clear whether these accompanying rotations are primarily due to passive (discs, ligaments and facet joints) or active (muscles) spinal anatomy. The aim of this study was to use a finite element (FE) model of the lumbar spine to predict three-dimensional coupled rotations between the lumbar vertebrae, due to passive spinal structures alone. The FE model was subjected to physiologically observed whole lumbar spine rotations about in vivo centres of rotation. Model predictions were validated by comparison of intra-discal pressures and primary rotations with in vivo measurements and these showed close agreement. Predicted coupled rotations matched in vivo measurements for all primary motions except lateral bending. We suggest that coupled rotations accompanying primary motions in the sagittal (flexion/extension) and transverse (axial rotation) planes are primarily due to passive spinal structures. For lateral bending the muscles most likely play a key role in the coupled rotation of the spine.     

A six-degree-of-freedom acoustic transducer for rotation and translation measurements across the knee

An acoustic transducer design to measure the relative translations and rotations across the knee with no mechanical coupling between the tibia and femur is presented. Platforms attached to femoral and tibial tracking fixtures hold acoustic sources and receivers, respectively. The distance from each source to each receiver is measured by the acoustic transit time and the translations and rotations across the knee joint are computed. For rotations less than 30 deg around the expected operating position, the resolution of the transducer is 0.3 deg; for translations less than 1.5 cm around the expected operating position, the resolution is 0.03 cm. Theoretical error analysis using a Monte Carlo method shows that the uncertainty in the measurement depends on the relative position of the sources and receivers. The analysis predicts the worst case resolution of the transducer as 0.09 cm in translation and 0.6 deg in rotation when the receiver platform is translated 8.0 cm parallel to the source platform. The transducer and fixturing system are demonstrated on a cadaver specimen for applied anterior force and applied internal-external rotation. Errors due to (soft tissue) motion of the transducer relative to the bone during in vivo measurements are assessed on the cadaver specimen. For internal-external rotation the error due to soft tissue motion is a maximum of 0.5 cm in translation and 1.8 deg in rotation. For applied anterior force the error due to soft tissue motion is a maximum of 0.16 cm in translation and 2.7 deg in rotation.     

Mechanical coupling between transverse plane pelvis and thorax rotations during gait is higher in people with low back pain

This study investigated whether people with low back pain (LBP) reduce variability of movement between the pelvis and thorax (trunk) in the transverse plane during gait at different speeds compared to healthy controls. Thirteen people with chronic LBP and twelve healthy controls walked on a treadmill at speeds from 0.5 to 1.72 m/s, with increments of 0.11 m/s. Step-to-step variability of the trunk, pelvis, and thorax rotations were calculated. Step-to-step deviations of pelvis and thorax rotations from the average pattern (residual rotations) were correlated to each other, and the linear regression coefficients between these deviations calculated. Spectral analysis was used to determine the frequencies of the residual rotations, to infer the relation of reduced trunk variability to trunk stiffness and/or damping. Variability of trunk motion (thorax relative to pelvis) was lower (P=0.02), covariance between the residual rotations of pelvis and thorax motions was higher (P=0.03), and the linear regression coefficients were closer to 1 (P=0.05) in the LBP group. Most power of segmental residual rotations was below stride frequency (~1 Hz). In this frequency range, trunk residual rotations had less power than pelvis or thorax residual rotations. These data show that people with LBP had lower variability of trunk rotations, as a result of the coupling of deviations of residual rotations in one segment to deviations of a similar shape (correlation) and amplitude (regression coefficient) in the other segment. These results support the argument that people with LBP adopt a protective movement strategy, possibly by increased trunk stiffness.     

Measurement of a spinal motion segment stiffness matrix

The six-degrees-of-freedom elastic behavior of spinal motion segments can be approximated by a stiffness matrix. A method is described to measure this stiffness matrix directly with the motion segment held under physiological conditions of axial preload and in an isotonic fluid bath by measuring the forces and moments associated with each of the six orthogonal translations and rotations. The stiffness matrix was obtained from the load-displacement measurements by linear least squares assuming a symmetric matrix. Results from a pig lumbar spinal motion segment in an isotonic bath, with and without a 500 N axial preload, showed a large stiffening effect with axial preload.     

Measuring generalization of visuomotor perturbations in wrist movements using mobile phones

Recent studies in motor control have shown that visuomotor rotations for reaching have narrow generalization functions: what we learn during movements in one direction only affects subsequent movements into close directions. Here we wanted to measure the generalization functions for wrist movement. To do so we had 7 subjects performing an experiment holding a mobile phone in their dominant hand. The mobile phone's built in acceleration sensor provided a convenient way to measure wrist movements and to run the behavioral protocol. Subjects moved a cursor on the screen by tilting the phone. Movements on the screen toward the training target were rotated and we then measured how learning of the rotation in the training direction affected subsequent movements in other directions. We find that generalization is local and similar to generalization patterns of visuomotor rotation for reaching.     

The concerted nature between three catalytic subunits driving the F1 rotary motor

F(1), a rotational molecular motor, shows strong cooperativity during ATP catalysis when driving the rotation of the central gamma subunit surrounded by the alpha(3)beta(3) subunits. To understand how the three catalytic beta subunits cooperate to drive rotation, we made a hybrid F(1) containing one or two mutant beta subunits with altered catalytic kinetics and observed its rotations. Analysis of the asymmetric stepwise rotations elucidated a concerted nature inside the F(1) complex where all three beta subunits participate to rotate the gamma subunit with a 120 degrees phase. In addition, observing hybrid F(1) rotations at various solution conditions, such as ADP, P(i) and the ATPase inhibitor 2,3-butanedione 2-monoxime (BDM) provides additional information for each elementary event. This novel experimental system, which combines single molecule observations and biochemical methods, enables us to dynamically visualize the catalytic coordination inside active enzymes and shed light on how biological machines provide unidirectional functions and rectify information from stochastic reactions.     

Protocols for the analysis of theoretical optical rotations

The availability of sophisticated quantum mechanical methods for predicting molecular optical rotations has revolutionized the determination of molecular stereochemistry. However, the objectives and approaches used for the applications of optical rotation vary from one laboratory to the other. With the number of applications of optical rotation increasing at an unprecedented rate, it is considered necessary to discuss the protocols for the general use of optical rotations predicted with quantum mechanical methods. A summary of the quantum mechanical methods for predicting optical rotations and protocols for the use of predicted optical rotations are presented in this article.     

Dosimetric effect of uncorrected rotations in lung SBRT with stereotactic imaging guidance

PurposeTo evaluate the dosimetric impact of uncorrected rotations on the planning target volume (PTV) coverage for early stage non-small cell lung cancer patients treated with stereotactic body radiotherapy using Brainlab ExacTrac image guidance.MethodsTwenty-two patients were retrospectively selected. Two scenarios of uncorrected rotations were simulated with magnitude of 1°, 2°, 3° and 5°: (1) rotation around the treatment isocenter; and (2) roll and yaw rotations around a setup isocenter. The D₉₅ of PTV from recalculated dose on the rotated CT was compared to that from the clinical plan. A logistic regression model was used to predict the probability of dose differences between recalculated and original plans that are less than 2% based on the rotation angle, PTV volume, and distance between the treatment and setup isocenter.ResultsLogistic regression model showed the uncorrected isocentric rotations of up to 2.5° in all directions have negligible dosimetric impact. For non-isocentric rotations, a rotational error of 2° may cause significant under-dose of the PTV. Statistically significant (p < 0.05) parameters in the logistic regression model were angle for isocentric rotations, angle and distance for non-isocentric roll rotations, and angle, distance and the PTV volume for non-isocentric yaw rotations.ConclusionsThe severity of the dose deviations due to uncorrected rotations depends on the type and magnitude of the rotation, the volume of the PTV, and the distance between the treatment and setup isocenter, which should be taken into consideration when making clinical judgment of whether the rotational error could be ignored.