Real-time Subject-specific Head and Facial Mimic Animation System using a Contactless Kinect Sensor and System of Systems Approach.

Facial palsies due to stroke, accidental and sportive injuries or sometimes without etiology, affect the professional and personal lives of involved patients. These disorders are not only a functional handicap but also a social integration impairment. The recovery of facial mimics with a normal and symmetrical facial expression allows involved patients to improve their living conditions and social identity. Current approaches lack of visual feedbacks. To monitor facial mimics and head movements in a quantitative and objective manners, a computer-aided animation system needs to be developed. Numerous systems have been proposed using single camera, stereo camera, 3-D scanner, and Kinect approaches. In particular, Kinect contactless sensor has been proven to be very suitable for 3-D facial simulation applications. However, little studies have employed the Kinect sensor for real-time head animation applications. Consequently, this study developed a real-time head and facial mimic animation system using the contactless Kinect sensor and the system of systems approach. To evaluate the accuracy of the subject-specific Kinect-based geometrical models, magnetic resonance imaging (MRI) data were used. As results, the mean distance deviation between generated Kinect-based and reconstructed MRI-based geometrical head models are approximately 1 mm for two tested subjects. The generation times are 9.7 s ± 0.3 and 0.046 s ± 0.005 by using the full facial landmarks and MPEG-4 facial landmarks respectively. Real-time head and facial mimic animations were illustrated. Particularly, the system could be executed at a very high framerate (60 fps). Further developments relate to the integration of texture information and internal structures such as a skull and muscle network to develop a full subject specific head and facial mimic animation system for facial mimic rehabilitation.

Estimation of accuracy of patient-specific musculoskeletal modelling: case study on a post polio residual paralysis subject.

For patients with patterns ranging out of anthropometric standard values, patient-specific musculoskeletal modelling becomes crucial for clinical diagnosis and follow-up. However, patient-specific modelling using imaging techniques and motion capture systems is mainly subject to experimental errors. The aim of this study was to quantify these experimental errors when performing a patient-specific musculoskeletal model. CT scan data were used to personalise the geometrical model and its inertial properties for a post polio residual paralysis subject. After having performed a gait-based experimental protocol, kinematics data were measured using a VICON motion capture system with six infrared cameras. The musculoskeletal model was computed using a direct/inverse algorithm (LifeMod software). A first source of errors was identified in the segmentation procedure in relation to the calculation of personalised inertial parameters. The second source of errors was subject related, as it depended on the reproducibility of performing the same type of gait. The impact of kinematics, kinetics and muscle forces resulting from the musculoskeletal modelling was quantified using relative errors and the absolute root mean square error. Concerning the segmentation procedure, we found that the kinematics results were not sensitive to the errors (relative error<1%). However, a strong influence was noted on the kinetics results (deviation up to 71%). Furthermore, the reproducibility error showed a significant influence (relative mean error varying from 5 to 30%). The present paper demonstrates that in patient-specific musculoskeletal modelling variations due to experimental errors derived from imaging techniques and motion capture need to be both identified and quantified. Therefore, the paper can be used as a guideline.

In vivo intersegmental motion of the cervical spine using an inverse kinematics procedure.

BACKGROUND: The main functions of the cervical spine are the stabilization and the orientation of the head. Pathologies are complex and difficult to diagnose. The first sign of the dysfunction is an abnormal intervertebral motion. It is the purpose of this feasibility study to determine the intersegmental motions and loading conditions of the cervical spine in vivo with standard clinical investigation methods. METHODS: We propose a new approach which merges full flexion-extension X-ray images, and continuous motion of the whole cervical spine obtained with a tracking motion system. These data were used as input for a subject-specific rigid body model of the cervical spine computed with the software MSC.Adams. This model simulates the cervical spine extension/flexion, the intervertebral motions are deduced using an inverse kinematics procedure. FINDINGS: Subject-specific rigid body models were computed from data of two subjects. The intersegmental motion and loading conditions were calculated. We found that the loading amplitudes depended on the intervertebral level, and that subject specific patterns were highlighted. We noticed an unsymmetrical behavior in flexion and extension. Furthermore intervertebral rotations were correlated with the global motion of the cervical spine. INTERPRETATION: A subject-specific rigid body model merged data from classical flexion-extension radiographs and noninvasive external motion capture. Our approach is based on inverse kinematics allowing the estimation of the intervertebral motion and mechanical behavior of the cervical spine in vivo, which gives valuable information concerning biomechanics of the cervical spine in vivo for cervical spine clinical investigation.

Relationships between density and Young's modulus with microporosity and physico-chemical properties of Wistar rat cortical bone from growth to senescence.

The aim of this study is to assess density and elastic properties of Wistar rat cortical bone from growth to senescence and to correlate them with morphological and physico-chemical properties of bone. During growth (from 1 to 9 months), bone density and Young's modulus were found to increase from 1659+/-85 to 2083+/-13 kg m(-3) and from 8+/-0.8 to 19.6+/-0.7 GPa respectively. Bone microporosity was found to decrease from 8.1+/-0.7% to 3.3+/-0.7%. Physico-chemical investigations exhibited a mineralization of bone matrix and a maturation of apatite crystals, as protein content decreased from 21.4+/-0.2% to 17.6+/-0.6% and apatite crystal size and carbonate content increased (c-axis length: from 151 to 173 A and CO(3)W%: from 4.1+/-0.3% to 6.1+/-0.2%). At adult age, all properties stabilized. During senescence, a slow decrease of mechanical properties was first observed (from 12 to 18 months, rho=2089+/-14 to 2042+/-30 kg m(-3) and E(3)=19.8 +/-1.3 to 14.8+/-1.5 GPa), followed by a stabilization. Physico-chemical properties stabilized while microporosity increased slightly (from 3.3% to 4%) but not significantly (p>0.05). A multiple regression analysis showed that morphological and physico-chemical properties had significant effects on density regression model. Microporosity had a greater effect on Young's modulus regression model than physico-chemical properties. This study showed that bone structure, mineralization and apatite maturation should be considered to improve the understanding of bone mechanical behaviour.

In vivo characterization of the mechanical properties of human skin derived from MRI and indentation techniques.

The human skin is an exceedingly complex and multi-layered material. This paper aims to introduce the application of the finite element analysis (FEA) to the in vivo characterization of the non-linear mechanical behaviour of three human skin layers. Indentation tests combined with magnetic resonance imaging (MRI) technique have been performed on the left dorsal forearm of a young man in order to reveal the mechanical behaviour of all skin layers. Using MRI images processing and a pre and post processor allows to make numerically individualized 2D model which consists of three skin layers and the muscles. FEA has been applied to simulate indentation tests. Neo-Hookean slightly compressible material model of two material constants (C(10), K) has been used to model the mechanical behaviour of the three skin layers and the muscles. The identification of material model parameters was done by applying Levenberg-Marquardt algorithm (LMA). Our methodology of identification provides a range of values for each constant. Range of values of different material properties of epidermis, dermis, hypodermis are respectively, C10(E)=0.12+/-0.06 MPa, C10(D)=1.11+/-0.09 MPa, C10(H)=0.42+/-0.05 KPa, K(E)=5.45+/-1.7 MPa, K(D)=29.6+/-1,28 MPa, K(H)=36.0+/-0.9 KPa.

Morphometry by computerized three-dimensional reconstruction of the human carpal bones during embryogenesis.

Carpal skeleton shows drastic developmental changes during embryogenesis. At this stage, the cartilaginous matrices appear and later form models of the limb bones. The purpose of this study was to investigate the morphometry of carpal bones in humans during embryological development. We obtained digitalized histological serial sections of 18 human embryos and early fetuses from the Institute of Anatomy in Paris. Surfdriver and MSC.Patran software were used for three-dimensional reconstruction and morphometry. There was a strong correlation between the volume of the carpal cartilaginous structure and the size of the embryos (P<0.001) and an exponential correlation between the carpal volume and the percentage of volume presented by the proximal carpal row (P=0.005). According to inertia parameters, the geometry of carpal cartilaginous structure, initially plane, becomes curved during embryogenesis. Carpal bones growth follows non-homothetic transformation. The innovations in embryo reconstruction serve as new tool for scientific investigation. A hypothesis of carpal development is proposed.

Quantification of the 3D relative movement of external marker sets vs. bones based on magnetic resonance imaging.

BACKGROUND: Most in vivo knee kinematic analyses are based on external markers attached to the shank and the thigh. Literature data show that markers positioning and soft tissues artifacts affect the kinematic parameters of the bones true movement. Most of the techniques of quantification used were invasive. The aim of the present study was to develop and apply a non-invasive methodology to compute the relative movement between the bones and the markers. METHODS: Magnetic resonance imaging acquisitions were performed on the right knee of eleven volunteers without knee injury. The subjects were equipped with external magnetic resonance imaging-compatible marker sets. A foot drive device allowed the subjects to perform an actively loaded knee extension. The whole volume of the subject's knee was processed for four sequentially held knee flexion positions during the knee movement. The bones and external marker sets geometry were reconstructed from magnetic resonance imaging images. Then a registration algorithm was applied to the bones and the relative movement of the thigh and shank marker sets with respect to their underlying bones was computed. FINDINGS: The protocol resulted in a good geometrical accuracy and reproducibility. Marker sets movement differ from that of the bones with a maximum of 22 mm in translation and 15 degrees in rotation and it affects the knee kinematics. INTERPRETATION: Marker sets relative movement modify the knee movement finite helical axes direction (range 10-35 degrees ) and localization (range 0-40 mm). The methodology developed can evaluate external marker set system to be used for kinematic analysis in a clinical environment.

Macroscopic-microscopic characterization of the passive mechanical properties in rat soleus muscle.

The purpose of the study was to investigate changes in passive mechanical properties of the soleus muscle of the rat during the first year of life. These mechanical changes were quantified at a macroscopic (whole muscle) and a microscopic level (fiber) and were correlated with biochemical and morphological properties. Three passive mechanical tests (a relaxation test, a ramp stretch test and a stretch release cycle test) with different amplitudes and velocities were performed on isolated soleus muscles and fibers in rats at ages 1 (R1), 4 (R4) and 12 (R12) months. Mechanical parameters (dynamic and static forces, stresses and normalized stiffness) were recorded and measured. The morphological properties (size of fibers and muscles) for the three groups of rats were assessed by light microscopy which allowed us to observe the evolution of the fiber type (I, IIc and IIa) in the belly region and along the longitudinal axis of the muscle. In addition, biochemical analyses were performed at the level of the whole muscle in order to determine the collagen content. The results of the passive mechanical properties between the macroscopic (muscle) and microscopic (fiber) levels showed a similar evolution. Thus, an increase of the dynamic and static forces appeared between 1 and 4 months while a decrease of the passive tension occurred between 4 and 12 months. These mechanical changes were correlated to the morphological properties. In addition, the size of the three fibers type which grew with age could explain the increase of forces between 1 and 4 months. Furthermore, the biochemical analysis showed an increase of the collagen content during the same period which could also be associated with the increase of the passive forces. After 4 months, the passive tension decreased while the size of the fiber continued to increase. The biochemical analysis showed a decrease of the collagen content after 4 months, which could explain the loss of passive tension in the whole muscle. Concerning the similar loss at the fiber level, other assumptions are required such as a myofibril loss process and an increase of intermyofibrillar spaces. The originality of this present study was to compare the passive mechanical properties between two different levels of anatomical organization within the soleus muscle of the rat and to explain these mechanical changes in terms of biochemical and morphological properties.

Can a finite set of knee extension in supine position be used for a knee functional examination?

The kinematic magnetic resonance imaging technique has been developed to provide a functional examination of the knee. Technical limitations require this examination to be performed in supine position, and the knee motion is represented by an assembly of static positions at different knee angles. However, the main knee function is to support the body weight and perform continuous motion, e.g. parallel squat. Our study quantified the knee kinematics of 20 healthy subjects in different motion conditions (finite and continuous) and in different mechanical conditions (continuous unloaded and continuous loaded). We evaluated the angular and localisation difference of a finite helical axis of the knee motion for parallel squat, continuous knee extension in supine position and the finite set of knee extension in supine position. We found large inter-individual dispersion. The majority of subjects had equivalent knee kinematics between continuous knee extension and the finite set of knee extension in supine position, but not between continuous knee extension in supine position and the parallel squat. Therefore, results from a functional examination of a finite set of knee extensions in supine position do not represent the knee motion in a parallel squat. Our results suggest that functional examination of the knee from magnetic resonance imaging do not necessarily reflect the physiological kinematics of the knee. Further investigation should focus on a new magnetic resonance imaging acquisition protocol that allows image acquisition during weight bearing or includes a special device which reproduces the loaded condition.

Automated analysis of MR image of hip: geometrical evaluation of the Legg-Calve-Perthes disease.

This study proposes semi-automatic determination of geometrical features in hip magnetic resonance (MR) images in order to evaluate the Legg-Calvé-Perthes disease (LCPD). Nine anatomical points on a hip image are selected by a clinician; then eight geometrical indexes of the hip joint are calculated: acetabulum head index (AHI), Wiberg angle (VCE), inner acetabular coverage angle (VCI), acetabular inclination angle (HTE), femoral shaft-neck angle (CC'D), circularity (C), convex deficiency factor (CDF) and pillar height deficiency factor (HDF) for the head region. The geometrical parameters are evaluated on 46 hip images of young patients with unilateral LCPD: 23 images concern the affected hip and 23 the unaffected hip. The extraction of the region of interest is done with a seeded region growing method. All the data were centered and reduced, and were subjected to principal component analysis. Supervised classification is applied with discriminant analysis and k-nearest neighbours classification. The AHI appears to be the best discriminant attribute (maximum between-class variance ratio). Cross-validation tests indicate that we can at most reduce the parameters to five (AHI, CC'D, DHF, DCF and VCE). The classification error rate for the linear discriminant method is 12.5%.

Growth and cellular differentiation: a physico-biochemical conundrum? The example of the hand.

Currently, the predominant hypothesis explains cellular differentiation as an essentially genetic intracellular process. The goal of this paper is to suggest that cell growth and differentiation may be, simply, the result of physical and chemical constraints. Bone growth occurs at the level of cartilage conjunction (growth plate) in a zone of lesser constrain. It appears that this growth also induces muscle, tendon, nerve and skin elongation. This cartilage growth by itself seems to explain the elongation of the hand. Growth stops at puberty likely because of feed-back from an increasing muscle load. The ossification (that is differentiation of cartilage into bone) appears to result from the shear stress induced. The study of bone age, obtained by X-ray picture of the hand, shows that ossification of epiphyses is very precise both in time and space. Computer modelization suggests that this ossification occurs where shear stress is greatest. The cartilage which does not ossify (joint, nose, larynx, ear, bronchus, etc.) is not exposed to high shear. Shear stress induces the secretion of extracellular matrix and a change of the biochemical environment of the cell. Precipitation of calcium phosphate, as in ossification, seems related to the alkalosis induced by shear stress. To speak in more general terms, loss of cellular differentiation, as occurs with cancer, can result from a change in the physical-chemical environments.