Piet M. Rozing

3D shoulder position measurements using a six-degree-of-freedom electromagnetic tracking device

OBJECTIVE: To describe a recording and processing methodology for obtaining kinematic data of the shoulder which meets three more criteria besides usual requirements regarding precision and accuracy: sufficient speed, obtaining complete 3D kinematics including joint rotations, and usage of coordinate systems based on reference points. DESIGN: Static recordings of shoulder bone orientations during standardized humerus elevations based on the palpation technique using a six-degree-of-freedom electromagnetic tracking device. BACKGROUND: An easy, fast, well standardized measurement methodology for obtaining complete 3D shoulder kinematic data is urgently needed for fundamental musculoskeletal and clinical research. METHODS: A measurement methodology was designed and developed. Shoulder kinematics were obtained from repeated measurements on 15 healthy subjects performed by two observers. Inter-trial, inter-day, inter-observer and inter-subject variability were established. Results were compared to literature. RESULTS: Complete kinematic descriptions were obtained. A measurement speed of about one position per second could be reached. The measured kinematics and accuracy of the measurements were found to be in concordance with the literature. CONCLUSION: All previously formulated criteria for a clinical useful method for obtaining shoulder kinematics have been met.

In vivo estimation of the glenohumeral joint rotation center from scapular bony landmarks by linear regression

In this paper, a method is described for in vivo prediction of the glenohumeral joint rotation center (GH-r), necessary for the construction of a humerus local coordinate system in shoulder kinematic studies. The three-dimensional positions of five scapula bony landmarks as well as a large number of data points on the surface of the glenoid and humeral head were collected at 36 sets of cadaver scapulae and adjacent humeri. The position of GH-r in each scapula was estimated by mathematically fitting spheres to the glenoid and humeral head. GH-r prediction from scapula geometry parameters by linear regression resulted in a RMSE between measured and predicted GH-r of 2.32 mm for the x-coordinate, 2.69 mm for the y-coordinate and 3.04 mm for the z-coordinate. Application in vivo revealed a random humerus orientation error due to measurement inaccuracies of 1.35, 0.29 and 1.26 degrees standard deviation per rotation angle. The estimated total humerus orientation error including the offset error due to the regression model inaccuracy was 2.86, 0.84 and 2.69 degrees standard deviation. As these errors were about 15 and 20% of, respectively, the intra- and inter-subject variability of the humerus orientations measured, it is concluded that the method described in this paper allows for an adequate construction of a humerus local coordinate system.

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.

Fast and accurate automated measurements in digitized stereophotogrammetric radiographs.

Until recently, Roentgen Stereophotogrammetric Analysis (RSA) required the manual definition of all markers using a high-resolution measurement table. To automate this tedious and time-consuming process and to eliminate observer variabilities, an analytical software package has been developed and validated for the detection, identification, and matching of markers in RSA radiographs. The digital analysis procedure consisted of the following steps: (1) the detection of markers using a variant of the Hough circle-finder technique; (2) the identification and labeling of the detected markers; (3) the reconstruction of the three-dimensional position of the bone markers and the prosthetic markers; and (4) the computation of micromotion. To assess the influence of film digitization, the measurements obtained from nine phantom radiographs using two different film scanners were compared with the results obtained by manual processing. All markers in the phantom radiographs were automatically detected and correctly labeled. The best results were obtained with a Vidar VXR-12 CCD scanner, for which the measurement errors were comparable to the errors associated with the manual approach. To assess the in vivo reproducibility, 30 patient radiographs were analyzed twice with the manual as well as with the automated procedure. Approximately, 85% of all calibration markers and bone markers were automatically detected and correctly matched. The calibration errors and the rigid-body errors show that the accuracy of the automated procedure is comparable to the accuracy of the manual procedure. The rigid-body errors had comparable mean values for both techniques: 0.05 mm for the tibia and 0.06 mm for the prosthesis. The reproducibility of the automated procedure showed to be slightly better than that of the manual procedure. The maximum errors in the computed translation and rotation of the tibial component were 0.11 mm and 0.24, compared to 0.13 mm and 0.27 for the manual RSA procedure. The total processing time is less than 10 min per radiograph, including interactive corrections, compared to approximately 1 h for the manual approach. In conclusion, a new and widely applicable, computer-assisted technique has become available to detect, identify, and match markers in RSA radiographs and to assess the micromotion of endoprostheses. This new technique will be used in our clinic for our hip, knee, and elbow studies.

The effect of hydroxyapatite on the micromotion of total knee prostheses : A prospective, randomized, double-blind study

A prospective, randomized, double-blind study was performed to evaluate three different means of fixing tibial components during total knee arthroplasty. Eleven components fixed with cement, ten hydroxyapatite-coated components fixed without cement, and ten noncoated components fixed without cement were studied. A posterior cruciate ligament-retaining total condylar implant was used. Micromotion of the components was assessed with roentgen stereophotogrammetric analysis during the two-year follow-up period. There were no significant differences among the patients with regard to age (mean [and standard deviation], 68 ± 11.6 years), body-mass index (mean, 23 ± 2.8 kilograms per square meter), or stage of osteoarthrosis (mean, 4 ± 2.4 according to the classification system of Ahlbäck and 5 ± 0.6 according to that of Larsen et al.). The diagnosis was osteoarthrosis in five knees, and it was rheumatoid arthritis in twenty-six. The clinical scores were similar among the study groups. According to the system of the Knee Society, the mean preoperative functional score was 10 ± 2.9 points and the mean preoperative knee score was 24 ± 3.2 points. At the two-year follow-up evaluation, these scores were 41 ± 8.3 and 79 ± 3.2 points, respectively. A significant difference with regard to micromotion was found between the noncoated components fixed without cement and the hydroxyapatite-coated components fixed without cement as well as between the noncoated components fixed without cement and the components fixed with cement (p < 0.001, analysis of variance). The hydroxyapatite-coated components fixed without cement and the components fixed with cement both had far less micromotion along the longitudinal axis (subsidence) throughout the follow-up period than did the noncoated components fixed without cement. At the two-year follow-up evaluation, the subsidence of the noncoated components was -0.73 ± 0.924 millimeter, the subsidence of the cemented components was -0.05 ± 0.109 millimeter, and the subsidence of the hydroxyapatite-coated components was -0.06 ± 0.169 millimeter. The cemented components as well as the hydroxyapatite-coated components also had less translation along the transverse axis (p < 0.001, analysis of variance) and the sagittal axis (p < 0.001, analysis of variance) compared with the noncoated components. In conclusion, micromotion of hydroxyapatite-coated tibial components fixed without cement was similar to that of tibial components fixed with cement. Therefore, hydroxyapatite, a biological mediator, may be necessary for the adequate fixation of tibial components when cement is not used.

Measurement of three dimensional shoulder movement patterns with an electromagnetic tracking device in patients with a frozen shoulder

Objective: To compare three dimensional movement patterns of the affected and non-affected shoulder in patients with a frozen shoulder before and after physical therapy. Methods: Patients with a unilateral frozen shoulder were assessed before and after three months of treatment. Three dimensional movement analysis was performed with the “Flock of Birds” electromagnetic tracking device while the patient raised their arms in three directions. Slopes of the regression lines of glenohumeral joint rotation versus scapular rotation, reflecting the scapulohumeral rhythm, were calculated. All assessments were made for both the affected and the unaffected side. Additional assessments included conventional range of motion (ROM) measurements and visual analogue scales (VAS) (0–100 mm) for shoulder pain at rest, during movement, and at night. Results: Ten patients with a unilateral frozen shoulder were included. The slopes of the curves of the forward flexion, scapular abduction, and abduction in the frontal plane of the affected and the unaffected side were significantly different in all three movement directions. Mean differences were 0.267, 0.215, and 0.464 (all p values <0.005), respectively. Mean changes of the slopes of the affected side after treatment were 0.063 (p=0.202), 0.048 (p=0.169), and 0.264 (p=0.008) in forward flexion, scapular abduction, and abduction in the frontal plane, respectively. All patients showed significant improvement in active ROM (all p<0.005), and the VAS for pain during movement and pain at night (p<0.05). Conclusions: With a three dimensional electromagnetic tracking system the abnormal movement pattern of a frozen shoulder, characterised by the relatively early laterorotation of the scapula in relation to glenohumeral rotation during shoulder elevation, can be described and quantified. Moreover, the system is sufficiently sensitive to detect clinical improvements. Its value in other shoulder disorders remains to be established.

Model-based Roentgen stereophotogrammetry of orthopaedic implants

Attaching tantalum markers to prostheses for Roentgen stereophotogrammetry (RSA) may be difficult and is sometimes even impossible. In this study, a model-based RSA method that avoids the attachment of markers to prostheses is presented and validated. This model-based RSA method uses a triangulated surface model of the implant. A projected contour of this model is calculated and this calculated model contour is matched onto the detected contour of the actual implant in the RSA radiograph. The difference between the two contours is minimized by variation of the position and orientation of the model. When a minimal difference between the contours is found, an optimal position and orientation of the model has been obtained. The method was validated by means of a phantom experiment. Three prosthesis components were used in this experiment: the femoral and tibial component of an Interax total knee prosthesis (Stryker Howmedica Osteonics Corp., Rutherfort, USA) and the femoral component of a Profix total knee prosthesis (Smith & Nephew, Memphis, USA). For the prosthesis components used in this study, the accuracy of the model-based method is lower than the accuracy of traditional RSA. For the Interax femoral and tibial components, significant dimensional tolerances were found that were probably caused by the casting process and manual polishing of the components surfaces. The largest standard deviation for any translation was 0.19mm and for any rotation it was 0.52 degrees. For the Profix femoral component that had no large dimensional tolerances, the largest standard deviation for any translation was 0.22mm and for any rotation it was 0.22 degrees. From this study we may conclude that the accuracy of the current model-based RSA method is sensitive to dimensional tolerances of the implant. Research is now being conducted to make model-based RSA less sensitive to dimensional tolerances and thereby improving its accuracy.

The glenohumeral joint rotation centre in vivo

Within the framework of the current call for standardization in upper extremity research, three methods to determine the glenohumeral joint rotation centre in vivo were tested. Therefore, subjects performed humeral movements, while a 3D electromagnetic tracking device registered the motion of the humerus with respect to the scapula. For the first method to estimate the glenohumeral joint rotation centre five scapular bony landmarks served as input to regression equations. The second method fitted a sphere through the humeral position data and the third method calculated the rotation centre determining an optimal helical axis. The experiment consisted of two parts, at first one subject was measured 10 times, subsequently one observer measured 10 subjects twice and another observer measured these subjects once. The first part of the experiment demonstrated that all methods are capable to reproduce the rotation centre within 4mm, but the location of the centre differed significantly between methods (p<0.001). The second part, showed that inter- and intra-observer reliability was sufficiently for the sphere-fitting method and for the helical-axes method. The two observations of one observer differed significantly (p<0.008) using the regression method. The authors prefer the helical-axes method, it is a reliable and valid method which can be applied in movement registration of healthy subjects and patients with a shoulder endoprosthesis, it can be applied in hinge joints to determine a rotation axis instead of a rotation centre which is desirable in standardized upper extremity research, and calculation time is short.

Patterns of loosening of the glenoid component.

The incidence of loosening of a cemented glenoid component in total shoulder arthroplasty, detected by means of radiolucent lines or positional shift of the component on true anteroposterior radiographs, has been reported to be between 0% and 44%. Radiolucent lines are, however, difficult to detect and to interpret because of the mobility of the shoulder girdle and the obliquity of the glenoid which hinder standardisation of radiographs. We examined radiolucencies around cemented glenoid components in 48 patients, with a mean follow-up of 5.3 years, and found progressive changes to be present predominantly at the inferior pole of the component. This may hold a clue for the mechanism of loosening of this implant. In five patients we performed an additional analysis of loosening of the glenoid component using digital roentgen stereophotogrammetric analysis (RSA). After three years, three of the five implants had loosened (migration 1.2 to 5.5 mm). In only one, with gross loosening, were the radiological signs consistent with the RSA findings. When traditional radiographs are used for assessment, the rate of early loosening is underestimated. We recommend that RSA be used for this.

Determination of the optimal elbow axis for evaluation of placement of prostheses.

OBJECTIVE To present a method to determine the position and orientation of the mean optimal flexion axis of the elbow in vivo to be used in clinical research. DESIGN Registering the movements of the forearm with respect to the upper arm during five cycles of flexion and extension of the elbow using a 6 degrees-of-freedom electromagnetic tracking device. BACKGROUND Loosening of elbow endoprostheses could be caused by not placing the prostheses in a biomechanically optimal way. To evaluate the placement of endoprostheses with regard to loosening, a method to determine the elbow axis is needed. METHODS The movements of the right forearm with respect to the upper arm during flexion and extension were registered with a 6 degrees-of-freedom electromagnetic tracking device. A mean optimal instantaneous helical axis of 10 elbows was calculated in a coordinate system related to the humerus. RESULTS The average position of the flexion/extension axis was 0.81 cm (SD 0.66 cm) cranially and 1.86 cm (SD 0.72 cm) ventrally of the epicondylus lateralis. The average angle with the frontal plane was 15.3 degrees (SD 2 degrees). CONCLUSIONS A useful estimation of the position and orientation of a mean optimal flexion axis can be obtained in vivo.