Control of a wrist joint motion simulator: a phantom study

The presence of muscle redundancy and co-activation of agonist-antagonist pairs in vivo makes the optimization of the load distribution between muscles in physiologic joint simulators vital. This optimization is usually achieved by employing different control strategies based on position and/or force feedback. A muscle activated physiologic wrist simulator was developed to test and iteratively refine such control strategies on a functional replica of a human arm. Motions of the wrist were recreated by applying tensile loads using electromechanical actuators. Load cells were used to monitor the force applied by each muscle and an optical motion capture system was used to track joint angles of the wrist in real-time. Four control strategies were evaluated based on their kinematic error, repeatability and ability to vary co-contraction. With kinematic errors of less than 1.5°, the ability to vary co-contraction, and without the need for predefined antagonistic forces or muscle force ratios, novel control strategies – hybrid control and cascade control – were preferred over standard control strategies – position control and force control. Muscle forces obtained from hybrid and cascade control corresponded well with in vivo EMG data and muscle force data from other wrist simulators in the literature. The decoupling of the wrist axes combined with the robustness of the control strategies resulted in complex motions, like dart thrower’s motion and circumduction, being accurate and repeatable. Thus, two novel strategies with repeatable kinematics and physiologically relevant muscle forces are introduced for the control of joint simulators

Bringing Justice to Cambodia: Reflections on Dame Silvia Cartwright's Role at the Khmer Rouge Tribunal

Dame Silvia Cartwright is one of New Zealand's most distinguished woman jurists. While much is known about her celebrated New Zealand-based career, this article focuses on her more recent, and arguably more important role – as a judge at the Khmer Rouge Tribunal in Cambodia, tasked with bringing to justice those most responsible for the atrocities committed by the Khmer Rouge in the 1970s. This article is a portrait of Dame Silvia, underlining her role as a leading jurist and an inspiration to women, based on the personal experiences of the author. It is not intended to critically address any issue relating to the Tribunal.&nbsp

Is it Better to be Safe than Sorry? The Cartagena Protocol versus the World Trade Organisation

One of the most important developments of the twenty-first century has been the emergence of biotechnology and genetic engineering. In response to this development, the Cartagena Protocol on Biosafety was negotiated, and entered into force in September 2003. The Cartagena Protocol sets up a regime governing the international movement of genetically modified organisms (GMOs) that aims to protect biodiversity from any adverse effects of genetically modified organisms. However, the Cartagena Protocol is not the only regime governing such movement. The World Trade Organisation (WTO) also covers the trade in GMOs, but has a different aim: to prevent limitations on such movement.  As a result it is almost inevitable that a dispute concerning the trade in GMOs will occur.  Therefore, harmonisation of the two agreements is highly desirable.  One way to achieve this, which would then avoid the need for WTO reform, would be for the Cartagena Protocol to be used by the WTO as evidence of internationally accepted standards in relation to GMOs.  However, given that the WTO would be unlikely to accept such a proposal, other solutions need to be explored

Development of a Fluoroscopic Radiostereometric Analysis System With an Application to Glenohumeral Joint Kinematics

Ideally, joint kinematics should be measured with high accuracy, void of skin motion artefact, in three dimensions, and under dynamic conditions. Radiostereometric analysis (RSA) has the potential to fulfill all of these requirements. The objectives of this thesis were (1) to implement and validate a fluoroscopy-based RSA system, (2) to determine the effect of varying the calibration frame, (3) to correct image distortion, (4) to investigate errors in coordinate system creation for glenohumeral (shoulder) joint kinematics, (5) to introduce a new coordinate system definition for the scapula with limited radiation exposure, and (6) to use RSA to examine glenohumeral joint motions in- vivo. An RSA system consisting of two portable C-arm fluoroscopy units and two personal computers was assembled. Calibration was performed using a custom-made calibration frame. Images were digitized and RSA reconstruction was performed using custom-written software. Images taken using fluoroscopy under ideal conditions can produce reconstructions that are as accurate as those taken with digital radiography, with standard errors of measurement of 43pm and 0.23° and 36pm and 0.12°, respectively. RSA is more accurate than optical tracking for rigid body motion. The fluoroscopes may be positioned at angles less than 135° without affecting the accuracy of reconstruction. A global polynomial approach to distortion correction is appropriate for use with RSA; however, the polynomial degree must be determined for each system with an independent accuracy measure. m An alternative scapular coordinate system was introduced to decrease the required radiation exposure for coordinate system creation by approximately half. The kinematic angles obtained using the alternative coordinate system were different from those obtained using the International Society of Biomechanics standard; however, the differences are not clinically significant. As a first clinical application, glenohumeral joint translation was examined. The preliminary data suggests that humeral head position does not differ in active and static joint positioning. Fluoroscopy allows subjects to be examined while in motion and should enable substantial improvements to the study of even subtle in-vivo kinematics. It is likely that the RSA system will lead to an increased understanding of the effects of disease progression, surgical techniques and rehabilitation protocols on joint motion

Objective methods of monitoring usage of orthotic devices for the extremities: a systematic review

Orthoses are commonly prescribed to relieve symptoms for musculoskeletal and neurological conditions; however, patients stop wearing orthoses as recommended for many reasons. When considering the effectiveness of orthoses, there needs to be an objective way to monitor whether participants wear the orthosis as instructed, because if this is not followed, the orthoses will not work as intended. This review aimed to identify, summarise, and compare objective methods used to measure compliance with orthoses applied to the extremities. Databases (Scopus, Web of Science, Embase, CINAHL, and MEDLINE) were searched for eligible studies. Twenty-three studies were accepted in the final review, including five studies that employed upper limb orthoses, two that employed hip orthoses, and fifteen that employed lower limb orthoses. To measure compliance objectively, studies utilised temperature sensors, pressure sensors, accelerometers, a step counter, or a combination of sensors. All sensor types have their own advantages and disadvantages and should be chosen based on study-specific parameters. Sensor-derived monitoring provides quantitative, objective data that are beneficial in both clinical and research settings. The ideal solution to monitoring compliance would consist of both objective and user-reported aspects that, in combination, would provide an all-encompassing picture of the orthotic treatment prescribed

Statistical shape modelling of the first carpometacarpal joint reveals high variation in morphology

The first carpometacarpal (CMC) joint, located at the base of the thumb and formed by the junction between the first metacarpal and trapezium, is a common site for osteoarthritis of the hand. The shape of both the first metacarpal and trapezium contributes to the intrinsic bony stability of the jointandvariability in the morphology of both these bones can affect the joint’s function. The objectivesof this study wereto quantify the morphological variation of the complete metacarpal and trapeziumand determine anycorrelation between anatomical features ofthese two components of the first CMC joint. A multi-object statistical shape modelling pipeline, consisting of scaling, hierarchical rigid registration, non-rigid registration and projection pursuit principal component analysis, was implemented. Four anatomical measureswere quantified from the shape model, namely the first metacarpal articular tilt and torsion angles and the trapeziumlength and width.Variationsin the first metacarpal articulartilt angle (-6.3°<θ<12.3°) and trapezium width (10.28mm <<11.13mm)wereidentified in the firstprincipal component. In the second principal component, variationsin the first metacarpal14torsion angle (0.2°<α<14.2°), first metacarpal articular tilt angle (1.0°<θ<6.4°) and trapezium length (12.25mm <ℓ<17.33mm)weredetermined. Due to their implications for joint stability, the first metacarpal articular tilt angle and trapezium width maybe important anatomical features which couldbe used toadvance early detectionand treatment offirst CMC joint osteoarthritis

Image intensifier distortion correction for fluoroscopic RSA: the need for independent accuracy assessment

Fluoroscopic images suffer from multiple modes of image distortion. Therefore, the purpose of this study was to compare the effects of correction using a range of two‐dimensional polynomials and a global approach. The primary measure of interest was the average error in the distances between four beads of an accuracy phantom, as measured using RSA. Secondary measures of interest were the root mean squared errors of the fit of the chosen polynomial to the grid of beads used for correction, and the errors in the corrected distances between the points of the grid in a second position. Based upon the two‐dimensional measures, a polynomial of order three in the axis of correction and two in the perpendicular axis was preferred. However, based upon the RSA reconstruction, a polynomial of order three in the axis of correction and one in the perpendicular axis was preferred. The use of a calibration frame for these three‐dimensional applications most likely tempers the effects of distortion. This study suggests that distortion correction should be validated for each of its applications with an independent “gold standard” phantom

The effect of planar constraint on the definition of the wrist axes of rotation

Instantaneous helical axes (IHAs) and screw displacement axes (SDAs) are commonly used to investigate joint functional axes of rotation. In the wrist, these have often been obtained through in vitro motion analysis. These definitions are then employed for in vivo applications, such as the design of implants or the development of musculoskeletal models. However, functional unguided joint motions are, by definition, affected by the activity of muscles. Previously published data has disagreed on the relative position and orientation of the two primary axes of rotation of the wrist, i.e. the radioulnar deviation (RUD) axes with respect to the flexion-extension (FE) axis. An in vivo study comparing the FE and RUD IHAs and SDAs of guided motions, to replicate in vitro conditions, and unguided motions of 23 healthy participants was conducted using optical motion capture. Guided motions were performed with the hand and forearm flush against a flat surface. The relative position and orientation of the RUD SDAs with respect to the FE SDAs differed (p = 0.019, p = 0.001) between unguided FE and guided RUD (0.1 ± 4.3 mm, 93.5 ±16.0°) and guided FE and RUD (1.6 ± 4.0 mm, 107.8 ±17.7°). This indicates that the use of different constraints, and not physiological differences, is the cause for differences in the relative positions and orientations of the FE and RUD axes in the literature. Thus, the practice of using in vitro definitions of the axes of rotation of the wrist for in vivo applications, especially involving FE, may be inappropriate and care must be taken to account for any constraint on wrist motion. It is recommended that investigators define the axes of rotation specifically for their study or refer to literature featuring the desired levels of constraint