Sagittal plane knee kinematics can be measured during activities of daily living following total knee arthroplasty with two IMU.

Knee function is rarely measured objectively during functional tasks following total knee arthroplasty. Inertial measurement units (IMU) can measure knee kinematics and range of motion (ROM) during dynamic activities and offer an easy-to-use system for knee function assessment post total knee arthroplasty. However, IMU must be validated against gold standard three-dimensional optical motion capture systems (OMC) across a range of tasks if they are to see widespread uptake. We computed knee rotations and ROM from commercial IMU sensor measurements during walking, squatting, sit-to-stand, stair ascent, and stair descent in 21 patients one-year post total knee arthroplasty using two methods: direct computation using segment orientations (r_IMU), and an IMU-driven iCloud-based interactive lower limb model (m_IMU). This cross-sectional study compared computed knee angles and ROM to a gold-standard OMC and inverse kinematics method using Pearson's correlation coefficient (R) and root-mean-square-differences (RMSD). The r_IMU and m_IMU methods estimated sagittal plane knee angles with excellent correlation (>0.95) compared to OMC for walking, squatting, sit-to-stand, and stair-ascent, and very good correlation (>0.90) for stair descent. For squatting, sit-to-stand, and walking, the mean RMSD for r_IMU and m_IMU compared to OMC were <4 degrees, < 5 degrees, and <6 degrees, respectively but higher for stair ascent and descent (~12 degrees). Frontal and transverse plane knee kinematics estimated using r_IMU and m_IMU showed poor to moderate correlation compared to OMC. There were no differences in ROM measurements during squatting, sit-to-stand, and walking across the two methods. Thus, IMUs can measure sagittal plane knee angles and ROM with high accuracy for a variety of tasks and may be a useful in-clinic tool for objective assessment of knee function following total knee arthroplasty.

Physical and Mental Demand During Total Hip Arthroplasty.

This study compared differences in (1) task duration; (2) biometric parameters (ie, caloric energy expenditure, heart rate); and (3) subjective measures of mental as well as physical demand of robotic-assisted total hip arthroplasty (THA) and manual THA. A total of 12 THAs were performed on 6 cadaveric specimens by two surgeons using a wearable technology to track biometric parameters and taking a questionnaire to compare the physical and mental demands. The results of our study suggest that as compared with manual techniques, robotic assistance for THA may reduce mental and physical fatigue.

Inaccuracy of the intramedullary femoral guide: traditional instrumentation lacks precision and accuracy.

PURPOSE: The purpose of the study was to utilize a large-scale biomorphometric computer tomography (CT) database to determine the desirable starting point and angle for placement of the femoral intramedullary rod in the sagittal plane. METHODS: A CT-based modeling and analytics system (SOMA, Stryker, Mahwah, NJ) was used to evaluate 1029 entire-femur CT scans. From this, 19,464 simulations were run to test whether a 20 cm intramedullary rod, with a radius of 4 mm, would successfully pass through the femoral canal before contacting cortical bone. First, modelling included varying angles from 0-6 degrees in the sagittal plane, at 1-degree intervals. Next, the start point was adjusted with an assumed 3 degrees of induced flexion in comparison to the mechanical axis. RESULTS: A total of 5012 simulations were able to place the femoral intramedullary rod 20 cm into the canal. The angle of the rod that created the highest proportion of successful jig placement was at a 3-degree angle of induced flexion to the orthogonal plane of the transepicondylar axis (TEA), with 33.7% successful jig placements. The starting point for the greatest proportion of successful guide placements was 48.5% along the distance between the sTEA, slightly closer to the lateral side. In the AP plane, the average distance to the ideal start point was 12.1 mm anterior to the PCL. CONCLUSION: By examining over a thousand femoral CT scans, an angle of 3 degrees of induced flexion was identified in the sagittal plane with the highest proportion of successful placement of an intramedullary rod before cortical contact. It is important to note the high rate of failure in completely inserting the 20 mm rod. LEVEL OF EVIDENCE: This is a prospective computer based model.

A Novel User Control for Lower Extremity Rehabilitation Exoskeletons.

Lower extremity exoskeletons offer the potential to restore ambulation to individuals with paraplegia due to spinal cord injury. However, they often rely on preprogrammed gait, initiated by switches, sensors, and/or EEG triggers. Users can exercise only limited independent control over the trajectory of the feet, the speed of walking, and the placement of feet to avoid obstacles. In this paper, we introduce and evaluate a novel approach that naturally decodes a neuromuscular surrogate for a user's neutrally planned foot control, uses the exoskeleton's motors to move the user's legs in real-time, and provides sensory feedback to the user allowing real-time sensation and path correction resulting in gait similar to biological ambulation. Users express their desired gait by applying Cartesian forces via their hands to rigid trekking poles that are connected to the exoskeleton feet through multi-axis force sensors. Using admittance control, the forces applied by the hands are converted into desired foot positions, every 10 milliseconds (ms), to which the exoskeleton is moved by its motors. As the trekking poles reflect the resulting foot movement, users receive sensory feedback of foot kinematics and ground contact that allows on-the-fly force corrections to maintain the desired foot behavior. We present preliminary results showing that our novel control can allow users to produce biologically similar exoskeleton gait.

The Importance of Haptics in Generating Exoskeleton Gait Trajectory Using Alternate Motor Inputs.

Human gait requires both haptic and visual feedback to generate and control rhythmic movements, and navigate environmental obstacles. Current lower extremity wearable exoskeletons that restore gait to individuals with paraplegia due to spinal cord injury rely completely on visual feedback to generate limited pre-programmed gait variations, and generally provide little control by the user over the gait cycle. As an alternative to this limitation, we propose user control of gait in real time using healthy upper extremities. This paper evaluates the feedback conditions required for the hands to generate complex rhythmic trajectories that resemble gait trajectories. This paper involved 18 subjects who performed a virtual locomotor task, where contralateral hand movements were mapped to control virtual feet in three feedback conditions: haptic only, visual only, and haptic and visual. The results indicate that haptic feedback in addition to visual feedback is required to produce rhythmic hand trajectories similar to gait trajectories.

Haptic proprioception in a virtual locomotor task.

Normal gait needs both proprioceptive and visual feedback to the nervous system to effectively control the rhythmicity of motor movement. Current preprogrammed exoskeletons provide only visual feedback with no user control over the foot trajectory. We propose an intuitive controller where hand trajectories are mapped to control contralateral foot movement. Our study shows that proprioceptive feedback provided to the users hand in addition to visual feedback result in better control during virtual ambulation than visual feedback alone. Hand trajectories resembled normal foot trajectories when both proprioceptive and visual feedback was present. Our study concludes that haptic feedback is essential for both temporal and spatial aspects of motor control in rhythmic movements.