Fabio Catani

Position and orientation in space of bones during movement: anatomical frame definition and determination

This paper deals with methodological problems related to the reconstruction of the position and orientation of the human pelvis and the lower limb bones in space during the execution of locomotion and physical exercises using a stereophotogrammetric system. The intention is to produce a means of quantitative description of joint kinematics and dynamics for both research and application. Anatomical landmarks and bone-embedded anatomical reference systems are defined. A contribution is given to definition of variables and relevant terminology. The concept of anatomical landmark calibration is introduced and relevant experimental approaches presented. The problem of data sharing is also addressed. This material is submitted to the scientific community for consideration as a basis for standardization. RELEVANCE: In order to make movement analysis effective in the solution of clinical problems, a structured conceptual background is needed in addition to standardized definitions and methods. Technical solutions which make data sharing and relevant data banks possible are also of primary importance. This paper makes suggestions in this context.

Position and orientation in space of bones during movement: experimental artefacts

This paper deals with the experimental problems related to the reconstruction of the position and orientation of the lower limb bones in space during the execution of locomotion and physical exercises. The inaccuracies associated with the relative movement between markers and underlying bone are analysed. Quantitative information regarding this movement was collected by making experiments on subjects who had suffered fractures and were wearing either femoral or tibial external fixators. These latter devices provided frames that were reliably rigid with the bone involved, and hence the possibility of assessing the relative movement between markers mounted on the skin and this bone. Anatomical frames associated with thigh and shank were reconstructed using technical frames based on different clusters of skin markers and their rotation with respect to the relevant bone evaluated. Marker movement was also assessed in subjects with intact musculoskeletal structures using digital videofluoroscopy.

Validation of a functional method for the estimation of hip joint centre location

The present study assesses the accuracy with which the subject specific coordinates of the hip joint centre (HJC) in a pelvic anatomical frame can be estimated using different methods. The functional method was applied by calculating the centre of the best sphere described by the trajectory of markers placed on the thigh during several trials of hip rotations. Different prediction methods, proposed in the literature and in the present investigation, which estimate the HJC of adult subjects using regression equations and anthropometric measurements, were also assessed. The accuracy of each of the above-mentioned methods was investigated by comparing their predictions with measurements obtained on a sample of 11 male adult able-bodied volunteers using roentgen stereophotogrammetric analysis (RSA), assumed to provide the true HJC locations. Prediction methods estimated the HJC location at an average rms distance of 25-30 mm. The functional method performed significantly better and estimated HJCs within a rms distance of 13 mm on average. This result may be confidently generalised if the photogrammetric experiment is carefully conducted and an optimal analytical approach used. The method is therefore suggested for use in motion analysis when the subjects hip range of motion is not limited. In addition, the facts that it is not an invasive technique and that it has relatively small and un-biased errors, make it suitable for regression equations identification with no limit to sample size and population typology.

Data management in gait analysis for clinical applications

OBJECTIVE: To study the reliability of gait analysis data obtained using the Calibrated Anatomical System Technique (CAST) protocol and to verify the suitability and repeatability of the extraction of a number of parameters from the waveforms obtained. DESIGN: The experimental protocol and the parametric analysis technique were applied on a population of able-bodied subjects. BACKGROUND: The clinical interpretation process of gait data still needs a more accurate analysis of the reliability and repeatability of the measurements and a suitable procedure for data reduction useful for data comparison. METHODS: Gait analysis was performed in 20 able-bodied subjects using a stereophotogrammetric system and a forceplate. 124 parameters relative to time-distance, kinematic and kinetic variables were calculated by means of an automatic procedure and statistically analysed. RESULTS: Most of the parameters were found to be normally distributed with relatively small range of variation. Few of them showed poor repeatability, mostly due to the experimental inaccuracies introduced. Correlation of several gait parameters with age, sex, and speed of progression was also identified.

An anatomically based protocol for the description of foot segment kinematics during gait

OBJECTIVE To design a technique for the in vivo description of ankle and other foot joint rotations to be applied in routine functional evaluation using non-invasive stereophotogrammetry. DESIGN Position and orientation of tibia/fibula, calcaneus, mid-foot, 1st metatarsal and hallux segments were tracked during the stance phase of walking in nine asymptomatic subjects. Rigid clusters of reflective markers were used for foot segment pose estimation. Anatomical landmark calibration was applied for the reconstruction of anatomical landmarks. BACKGROUND Previous studies have analysed only a limited number of joints or have proposed invasive techniques. METHODS Anatomical landmark trajectories were reconstructed in the laboratory frame using data from the anatomical calibration procedure. Anatomical co-ordinate frames were defined using the obtained landmark trajectories. Joint co-ordinate systems were used to calculate corresponding joint rotations in all three anatomical planes. RESULTS The patterns of the joint rotations were highly repeatable within subjects. Consistent patterns between subjects were also exhibited at most of the joints. CONCLUSION The method proposed enables a detailed description of ankle and other foot joint rotations on an anatomical base. Joint rotations can therefore be expressed in the well-established terminology necessary for their clinical interpretation. RELEVANCE Functional evaluation of patients affected by foot diseases has recently called for more detailed and non-invasive protocols for the description of foot joint rotations during gait. The proposed method can help clinicians to distinguish between normal and pathological pattern of foot joint rotations, and to quantitatively assess the restoration of normal function after treatment.

A geometric model of the human ankle joint.

A two-dimensional four-bar linkage model of the ankle joint is formulated to describe dorsi/plantarflexion in unloaded conditions as observed in passive tests on ankle complex specimens. The experiments demonstrated that the human ankle joint complex behaves as a single-degree-of-freedom system during passive motion, with a moving axis of rotation. The bulk of the movement occurred at the level of the ankle. Fibres within the calcaneofibular and tibiocalcaneal ligaments remained approximately isometric. The experiments showed that passive kinematics of the ankle complex is governed only by the articular surfaces and the ligaments. It was deduced that the ankle is a single-degree-of-freedom mechanism where mobility is allowed by the sliding of the articular surfaces upon each other and the isometric rotation of two ligaments about their origins and insertions, without tissue deformation. The linkage model is formed by the tibia/fibula and talus/calcaneus bone segments and by the calcaneofibular and tibiocalcaneal ligament segments. The model predicts the path of calcaneus motion, ligament orientations, instantaneous axis of rotation, and conjugate talus surface profile as observed in the experiments. Many features of ankle kinematics such as rolling and multiaxial rotation are elucidated. The geometrical model is a necessary preliminary step to the study of ankle joint stability in response to applied loads and can be used to predict the effects of changes to the original geometry of the intact joint. Careful reconstruction of the original geometry of the ligaments is necessary after injury or during total ankle replacement.

Alignments and clinical results in conventional and navigated total knee arthroplasty.

In this prospective, randomized, controlled study, we compared the performance of conventional and navigated total knee arthroplasties. Component alignment was measured in 60 patients operated on using navigation and in 60 patients operated on using the conventional technique. The groups then were divided into a subpopulation to measure alignments of the distal femoral cuts in the three anatomic planes, the proximal tibial cut in the frontal and sagittal planes, and the resulting lower limb mechanical axis in the frontal plane. Postoperative weightbearing long-view radiographs were evaluated as were clinical results using three standard questionnaires at 28 months followup. The intraoperative measurements (mean ± standard deviation) at the resection planes showed navigated surgeries result in more accurate alignments than conventional surgeries for the femur: in the frontal plane, 0.1° ± 0.9° and 0.7° ± 1.6° valgus, respectively; in the sagittal plane, 1.1° ± 1.8° and 2.8° ± 2.0° flexion; and in the transversal plane, 0.1° ± 1.2° and 0.9° ± 1.7° internal rotation. The navigated technique also reduced the number of cases with final mechanical axes greater than 3° from 20.0% to 1.7%. Postoperative radiographs showed better component alignment using navigation, particularly at the femur. However, clinical scoring systems showed this radiographic improvement did not necessarily result in a better clinical outcome at short-term followup.Level of Evidence: Level I, therapeutic study. See the Guidelines for Authors for a complete description of level of evidence.

A model-based method for the reconstruction of total knee replacement kinematics

A better knowledge of the kinematics behavior of total knee replacement (TKR) during activity still remains a crucial issue to validate innovative prosthesis designs and different surgical strategies. Tools for more accurate measurement of in vivo kinematics of knee prosthesis components are therefore fundamental to improve the clinical outcome of knee replacement. In the present study, a novel model-based method for the estimation of the three-dimensional (3-D) position and orientation (pose) of both the femoral and tibial knee prosthesis components during activity is presented. The knowledge of the 3-D geometry of the components and a single plane projection view in a fluoroscopic image are sufficient to reconstruct the absolute and relative pose of the components in space. The technique is based on the best alignment of the component designs with the corresponding projection on the image plane. The image generation process is modeled and an iterative procedure localizes the spatial pose of the object by minimizing the Euclidean distance of the projection rays from the object surface. Computer simulation and static/dynamic in vitro tests using real knee prosthesis show that the accuracy with which relative orientation and position of the components can be estimated is better than 1.5/spl deg/ and 1.5 mm, respectively. In vivo tests demonstrate that the method is well suited for kinematics analysis on TKR patients and that good quality images can be obtained with a carefully positioning of the fluoroscope and an appropriate dosage. With respect to previously adopted template matching techniques, the present method overcomes the complete segmentation of the components on the projected image and also features the simultaneous evaluation of all the six degrees of freedom (DOF) of the object. The expected small difference between successive poses in in vivo sequences strongly reduces the frequency of false poses and both the operator and computation time.

Kinematics of the human ankle complex in passive flexion; a single degree of freedom system

The restoration of original range and pattern of motion is the primary goal of joint replacement and ligament reconstruction. The objective of the present work is to investigate whether or not a preferred path of joint motion at the intact human ankle complex is exhibited during passive flexion. A rig was built to move the ankle complex through its range of flexion while applying only the minimum necessary load to drive ankle flexion. Joint motion was constrained only by the articular surfaces and the ligaments. The movements of the calcaneus, talus and fibula relative to the stationary tibia in seven cadaveric specimens were tracked with a stereophotogrammetric system. It was shown that the calcaneus follows a unique path of unresisted coupled motion relative to the tibia and that most of the motion occurred at the ankle, with little motion at the subtalar level. The calcaneofibular and the tibiocalcaneal ligaments showed near-isometric pattern of rotations. All specimens showed motion of the axis of rotation relative to the bones. Deviations from the unique path due to the application of load involved mostly subtalar motion and were resisted. The ankle complex exhibits one degree of unresisted freedom, the ankle behaving as a single degree of freedom mechanism and the subtalar as a flexible structure. We deduced that the calcaneofibular and tibiocalcaneal ligaments together with the articular surfaces guide ankle passive motion, other ligaments limit but do not guide motion.

Surgical treatment of flexible flatfoot in children: A four-year follow-up study

Definition lexible flatfoot in children is one of the most common disorders in orthopaedics. Despite numerous papers published in the literature, the definition and etiology of flexible flatfoot; the level of disability that it may cause; and the opportunity for, appropriate time of, and efficacy of its treatment are still open to debate. In fact, if the foot is only morphologically flat, characterized by a lower medial arch and a broadening of the footprint, it can be well tolerated throughout the person’s life. If, however, the foot is also functionally flat—that is, a foot that during weight-bearing and walking stays in a prevalent or persistent pronation—can cause secondary problems.