Semi-automated stereoradiographic upper limb 3D reconstructions using a combined parametric and statistical model: a preliminary study

PURPOSE: Quantitative assessment of 3D clinical indices may be crucial for elbow surgery planning. 3D parametric modeling from bi-planar radiographs was successfully proposed for spine and lower limb clinical investigation as an alternative for CT-scan. The aim of this study was to adapt this method to the upper limb with a preliminary validation. METHODS: CT-scan 3D models of humerus, radius and ulna were obtained from 20 cadaveric upper limbs and yielded parametric models made of geometric primitives. Primitives were defined by descriptor parameters (diameters, angles...) and correlations between these descriptors were found. Using these correlations, a semi-automated reconstruction method of humerus using bi-planar radiographs was achieved: a 3D personalized parametric model was built, from which clinical parameters were computed [orientation and projections on bone surface of trochlea sulcus to capitulum (CTS) axis, trochlea sulcus anterior offset and width of distal humeral epiphysis]. This method was evaluated by accuracy compared to CT-scan and reproducibility. RESULTS: Points-to-surface mean distance was 0.9 mm (2 RMS = 2.5 mm). For clinical parameters, mean differences were 0.4-1.9 mm and from 1.7° to 2.3°. All parameters except from angle formed by CTS axis and bi-epicondylar axis in transverse plane were reproducible. Reconstruction time was about 5 min. CONCLUSIONS: The presented method provides access to morphological upper limb parameters with very low level of radiation. Preliminary in vitro validation for humerus showed that it is fast and accurate enough to be used in clinical daily practice as an alternative to CT-scan for total elbow arthroplasty pre operative evaluation

A motion-decomposition approach to address gimbal lock in the 3-cylinder open chain mechanism description of a joint coordinate system at the glenohumeral joint

In this study, the standard-sequence properties of a joint coordinate system were implemented for the glenohumeral joint by the use of a set of instantaneous geometrical planes. These are: a plane that is bound by the humeral long axis and an orthogonal axis that is the cross product of the scapular anterior axis and this long axis, and a plane that is bounded by the long axis of the humerus and the cross product of the scapular lateral axis and this long axis. The relevant axes are updated after every decomposition of a motion component of a humeral position. Flexion, abduction and rotation are then implemented upon three of these axes and are applied in a step-wise uncoupling of an acquired humeral motion to extract the joint coordinate system angles. This technique was numerically applied to physiological kinematics data from the literature to convert them to the joint coordinate system and to visually reconstruct the motion on a set of glenohumeral bones for validation

The range of axial rotation of the glenohumeral joint.

Accepted versio

Mechanical Characterization of Fourth Generation Composite Humerus

Mechanical data on upper extremity surrogate bones, supporting use as biomechanical tools, is limited. The objective of this study was to characterize the structural behaviour of the fourth-generation composite humerus under simulated physiologic bending, specifically, stiffness, rigidity, and mid-diaphysial surface strains. Three humeri were tested in four-point bending, in anatomically defined anteroposterior (AP) and mediolateral (ML) planes. Stiffness and rigidity were derived using load–displacement data. Principal strains were determined at the anterior, posterior, medial, and lateral surfaces in the humeral mid-diaphysial transverse plane of one specimen using stacked rosettes. Linear structural behaviour was observed within the test range. Average stiffness and rigidity were greater in the ML (918 ± 18 N/mm; 98.4 ± 1.9 Nm2) than the AP plane (833 ± 16 N/mm; 89.3 ± 1.6 Nm2), with little inter-specimen variability. The ML/AP rigidity ratio was 1.1. Surface principal strains were similar at the anterior (5.41 µε/N) and posterior (5.43 µε/N) gauges for AP bending, and comparatively less for ML bending, i.e. 5.1 and 4.5 µε/N, at the medial and lateral gauges, respectively. This study provides novel strain and stiffness data for the fourth-generation composite humerus and also adds to published construct rigidity data. The presented results support the use of this composite bone as a tool for modelling and experimentation

Forelimb muscle and joint actions in Archosauria: insights from Crocodylus johnstoni (Pseudosuchia) and Mussaurus patagonicus (Sauropodomorpha)

Many of the major locomotor transitions during the evolution of Archosauria, the lineage including crocodiles and birds as well as extinct Dinosauria, were shifts from quadrupedalism to bipedalism (and vice versa). Those occurred within a continuum between more sprawling and erect modes of locomotion and involved drastic changes of limb anatomy and function in several lineages, including sauropodomorph dinosaurs. We present biomechanical computer models of two locomotor extremes within Archosauria in an analysis of joint ranges of motion and the moment arms of the major forelimb muscles in order to quantify biomechanical differences between more sprawling, pseudosuchian (represented the crocodile Crocodylus johnstoni) and more erect, dinosaurian (represented by the sauropodomorph Mussaurus patagonicus) modes of forelimb function. We compare these two locomotor extremes in terms of the reconstructed musculoskeletal anatomy, ranges of motion of the forelimb joints and the moment arm patterns of muscles across those ranges of joint motion. We reconstructed the three-dimensional paths of 30 muscles acting around the shoulder, elbow and wrist joints. We explicitly evaluate how forelimb joint mobility and muscle actions may have changed with postural and anatomical alterations from basal archosaurs to early sauropodomorphs. We thus evaluate in which ways forelimb posture was correlated with muscle leverage, and how such differences fit into a broader evolutionary context (i.e. transition from sprawling quadrupedalism to erect bipedalism and then shifting to graviportal quadrupedalism). Our analysis reveals major differences of muscle actions between the more sprawling and erect models at the shoulder joint. These differences are related not only to the articular surfaces but also to the orientation of the scapula, in which extension/flexion movements in Crocodylus (e.g. protraction of the humerus) correspond to elevation/depression in Mussaurus. Muscle action is highly influenced by limb posture, more so than morphology. Habitual quadrupedalism in Mussaurus is not supported by our analysis of joint range of motion, which indicates that glenohumeral protraction was severely restricted. Additionally, some active pronation of the manus may have been possible in Mussaurus, allowing semi-pronation by a rearranging of the whole antebrachium (not the radius against the ulna, as previously thought) via long-axis rotation at the elbow joint. However, the muscles acting around this joint to actively pronate it may have been too weak to drive or maintain such orientations as opposed to a neutral position in between pronation and supination. Regardless, the origin of quadrupedalism in Sauropoda is not only linked to manus pronation but also to multiple shifts of forelimb morphology, allowing greater flexion movements of the glenohumeral joint and a more columnar forelimb posture

Range-based techniques for discovering optimality and analyzing scaling relationships in neuromechanical systems

In this paper, a method for decoupling the neuromuscular function of a set of limbs from the role morphology plays in regulating the performance of an activity is introduced. This method is based on two previous methods: the rescaled range analysis specific to time series data, and the use of scaling laws. A review of the literature suggests that limb geometry can either facilitate or constrain performance as measured experimentally. Whether limb geometry is facilitatory or acts as a constraint depends on the size differential between arm morphology and the underlying muscle. "Changes in size and shape" are theoretically extrapolations of morphological geometry to other members of a population or species, to other species, or to technological manipulations of an individual via prosthetic devices. Three datasets are analyzed using the range-based method and a Monte-Carlo simulation, and are used to test the various ways of executing this analysis. It was found that when performance is kept stable but limb size and shape is scaled by a factor of .25, the greatest gain in performance results. It was also found that introducing force-based perturbations results in 'shifts' in the body geometry/performance relationship. While results such as this could be interpreted as a statistical artifact, the non-linear rise within a measurement class and linear decrease between measurement classes suggests an effect of scale in the optimality of this relationship. Overall, range-based techniques allow for the simulation and modeling of myriad changes in phenotype that result from biological and technological manipulation

Kinematic Comparison and Description of the 3-Dimensional Shoulder Kinematics of 2 Shoulder Rotation Tests

Objectives: The purpose of this study was to compare shoulder external rotation range of motion (ROM) during the hand-behind-neck (HBN) test and a standard shoulder external rotation test and to describe the 3-dimensional scapular motion during the HBN test. Methods: An electromagnetic tracking device was used to assess the dominant shoulder of 14 healthy participants while performing active full ROM in a standard shoulder external rotation test in an elevated position (EREP) and in the HBN test. The humeral and scapular 3-dimensional positions at the end of EREP and HBN were compared using a paired-sample t test. A correlation analysis was performed between humeral and scapular angles to assess the contribution of scapular motion to the full shoulder ROM during the HBN test. Results: No significant differences were found between the HBN test and the EREP at the end-range of the glenohumeral external rotation (HBN: 15.6° ± 6.3° vs EREP: 23.4° ± 4.7°; P = .08) and on scapular internal-external rotation (HBN test: 21.2° ± 6.3° vs EREP: 15.6° ± 1.8°; P = .23). Significant differences were found in scapular upward rotation (HBN: 21.2° ± 6.3° vs EREP: 15.6° ± 1.8°; P b .01) and scapular spinal tilt (HBN: − 0.4° ± 2.3° vs EREP: 8.1° ± 2.1°; P b .01). There was a positive correlation between the humeral angles and scapular internal and posterior spinal tilt angles with the HBN test. Conclusions: The results of the present study showed that, in young asymptomatic participants with no known shoulder pathology, the end-range of shoulder rotation was similar in the HBN test and in a standard shoulder rotation test. During the HBN test, the scapula assumed a more internal and anterior spinal tilted position at the end-range of active shoulder external rotation. These results suggest that the HBN test may be used to assess the end-range of glenohumeral external rotation.info:eu-repo/semantics/publishedVersio

A Bio-Inspired Tensegrity Manipulator with Multi-DOF, Structurally Compliant Joints

Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The disadvantage of this approach is that the exerted leverage is magnified at each subsequent joint possibly damaging the mechanism. In this paper, we present two lightweight, elastic, bio-inspired tensegrity robotics arms which mitigate this danger while improving their mechanism's functionality. Our solutions feature modular tensegrity structures that function similarly to the human elbow and the human shoulder when connected. Like their biological counterparts, the proposed robotic joints are flexible and comply with unanticipated forces. Both proposed structures have multiple passive degrees of freedom and four active degrees of freedom (two from the shoulder and two from the elbow). The structural advantages demonstrated by the joints in these manipulators illustrate a solution to the fundamental issue of elegantly handling off-axis compliance.Comment: IROS 201