Hindfoot kinematics and kinetics - A combined in vivo and in silico analysis approach.

BACKGROUND: The complex anatomical structure of the foot-ankle imposes challenges to accurately quantify detailed hindfoot kinematics and estimate musculoskeletal loading parameters. Most systems used to capture or estimate dynamic joint function oversimplify the anatomical structure by reducing its complexity. RESEARCH QUESTION: Can four dimensional computed tomography (4D CT) imaging in combination with an innovative foot manipulator capture in vivo hindfoot kinematics during a simulated stance phase of walking and can talocrural and subtalar articular joint mechanics be estimated based on a detailed in silico musculoskeletal foot-ankle model. METHODS: A foot manipulator imposed plantar/dorsiflexion and inversion/eversion representing a healthy stance phase of gait in 12 healthy participants while simultaneously acquiring 4D CT images. Participant-specific 3D hindfoot rotations and translations were calculated based on bone-specific anatomical coordinate systems. Articular cartilage contact area and contact pressure of the talocrural and subtalar joints were estimated using an extended foot-ankle model updated with an elastic foundation contact model upon prescribing the participant-specific rotations measured in the 4D CT measurement. RESULTS: Plantar/dorsiflexion predominantly occurred at the talocrural joint (RoM 15.9±3.9°), while inversion/eversion (RoM 5.9±3.9°) occurred mostly at the subtalar joint, with the contact area being larger at the subtalar than at the talocrural joint. Contact pressure was evenly distributed between the talocrural and subtalar joint at the beginning of the simulated stance phase but was then redistributed from the talocrural to the subtalar joint with increasing dorsiflexion. SIGNIFICANCE: In a clinical case study, the healthy participants were compared with four patients after surgically treaded intra-articular calcaneal fracture. The proposed workflow was able to detect small but meaningful differences in hindfoot kinematics and kinetics, indicative of remaining hindfoot pathomechanics that may influence the onset and progression of degenerative joint diseases.

The role of medial ligaments and tibialis posterior in stabilising the medial longitudinal foot arch: a cadaveric gait simulator study.

BACKGROUND: Debate exists whether adult acquired flatfoot deformity develops secondary to tibialis posterior (TibPost) tendon insufficiency, failure of the ligamentous structures, or a combination of both. AIM: The aim of this study is to determine the contribution of the different medial ligaments in the development of acquired flatfoot pathology. Also to standardise cadaveric flatfoot models for biomechanical research and orthopaedic training. METHODS: Five cadaveric feet were tested on a dynamic gait simulator. Following tests on the intact foot, the medial ligaments - fascia plantaris (FP), the spring ligament complex (SLC) and interosseous talocalcaneal ligament (ITCL) - were sectioned sequentially. Joint kinematics were analysed for each condition, with and without force applied to TibPost. RESULTS: Eliminating TibPost resulted in higher internal rotation of the calcaneus following the sectioning of FP and SLC (d>1.28, p = 0.08), while sectioning ITCL resulted in higher external rotation without TibPost (d = 1.24, p = 0.07). Sequential ligament sectioning induced increased flattening of Meary's angle. CONCLUSION: Function of TibPost and medial ligaments is not mutually distinctive. The role of ITCL should not be neglected in flatfoot pathology; it is vital to section this ligament to develop flatfoot in cadaveric models.

Predicting Intention of Motion During Rehabilitation Tasks of the Upper-Extremity.

Rehabilitation promoting "assistance-as-needed" is considered a promising scheme of active rehabilitation, since it can promote neuroplasticity faster and thus reduce the time needed until restoration. To implement such schemes using robotic devices, it is crucial to be able to predict accurately and in real-time the intention of motion of the patient. In this study, we present an intention-of-motion model trained on healthy volunteers. The model is trained using kinematics and muscle activation time series data, and returns future predicted values for the kinematics. We also present the results of an analysis of the sensitivity of the accuracy of the model for different amount of training datasets and varying lengths of the prediction horizon. We demonstrate that the model is able to predict reliably the kinematics of volunteers that were not involved in its training. The model is tested with three types of motion inspired by rehabilibation tasks. In all cases, the model is predicting the arm kinematics with a Root Mean Square Error (RMSE) below 0.12m. Being a non person-specific model, it could be used to predict kinematics even for patients that are not able to perform any motion without assistance. The resulting kinematics, even if not fully representative of the specific patient, might be a preferable input for a robotic rehabilitator than predefined trajectories currently in use.

Augmented Ligament Reconstruction Partially Restores Hindfoot and Midfoot Kinematics After Lateral Ligament Ruptures.

BACKGROUND: Altered kinematics and persisting ankle instability have been associated with degenerative changes and osteochondral lesions. PURPOSE: To study the effect of ligament reconstruction surgery with suture tape augmentation (isolated anterior talofibular ligament [ATFL] vs combined ATFL and calcaneofibular ligament [CFL]) after lateral ligament ruptures (combined ATFL and CFL) on foot-ankle kinematics during simulated gait. STUDY DESIGN: Controlled laboratory study. METHODS: Five fresh-frozen cadaveric specimens were tested in a custom-built gait simulator in 5 different conditions: intact, ATFL rupture, ATFL-CFL rupture, ATFL-CFL reconstruction, and ATFL reconstruction. For each condition, range of motion (ROM) and the average angle (AA) in the hindfoot and midfoot joints were calculated during the stance phase of normal and inverted gait. RESULTS: Ligament ruptures mainly changed ROM in the hindfoot and the AA in the hindfoot and midfoot and influenced the kinematics in all 3 movement directions. Combined ligament reconstruction was able to restore ROM in inversion-eversion in 4 of the 5 joints and ROM in internal-external rotation and dorsiflexion-plantarflexion in 3 of the 5 joints. It was also able to restore the AA in inversion-eversion in 2 of the 5 joints, the AA in internal-external rotation in all joints, and the AA in dorsiflexion-plantarflexion in 1 of the joints. Isolated ATFL reconstruction was able to restore ROM in inversion-eversion and internal-external rotation in 3 of the 5 joints and ROM in dorsiflexion-plantarflexion in 2 of the 5 joints. Isolated reconstruction was also able to restore the AA in inversion-eversion and dorsiflexion-plantarflexion in 2 of the joints and the AA in internal-external rotation in 3 of the joints. Both isolated reconstruction and combined reconstruction were most successful in restoring motion in the tibiocalcaneal and talonavicular joints and least successful in restoring motion in the talocalcaneal joint. However, combined reconstruction was still better at restoring motion in the talocalcaneal joint than isolated reconstruction (1/3 for ROM and 1/3 for the AA with isolated reconstruction compared to 1/3 for ROM and 2/3 for the AA with combined reconstruction). CONCLUSION: Combined ATFL-CFL reconstruction showed better restored motion immediately after surgery than isolated ATFL reconstruction after a combined ATFL-CFL rupture. CLINICAL RELEVANCE: This study shows that ligament reconstruction with suture tape augmentation is able to partially restore kinematics in the hindfoot and midfoot at the time of surgery. In clinical applications, where the classic Broström-Gould technique is followed by augmentation with suture tape, this procedure may protect the repaired ligament during healing by limiting excessive ROM after a ligament rupture.

Foot-ankle simulators: A tool to advance biomechanical understanding of a complex anatomical structure.

In vitro gait simulations have been available to researchers for more than two decades and have become an invaluable tool for understanding fundamental foot-ankle biomechanics. This has been realised through several incremental technological and methodological developments, such as the actuation of muscle tendons, the increase in controlled degrees of freedom and the use of advanced control schemes. Furthermore, in vitro experimentation enabled performing highly repeatable and controllable simulations of gait during simultaneous measurement of several biomechanical signals (e.g. bone kinematics, intra-articular pressure distribution, bone strain). Such signals cannot always be captured in detail using in vivo techniques, and the importance of in vitro experimentation is therefore highlighted. The information provided by in vitro gait simulations enabled researchers to answer numerous clinical questions related to pathology, injury and surgery. In this article, first an overview of the developments in design and methodology of the various foot-ankle simulators is presented. Furthermore, an overview of the conducted studies is outlined and an example of a study aiming at understanding the differences in kinematics of the hindfoot, ankle and subtalar joints after total ankle arthroplasty is presented. Finally, the limitations and future perspectives of in vitro experimentation and in particular of foot-ankle gait simulators are discussed. It is expected that the biofidelic nature of the controllers will be improved in order to make them more subject-specific and to link foot motion to the simulated behaviour of the entire missing body, providing additional information for understanding the complex anatomical structure of the foot.

Insertion of a pressure sensing arrayminimally affects hindfoot bone kinematics.

BACKGROUND: Understanding the development of ankle osteoarthritis (OA) is of high importance and interest; however its causality is poorly understood and several links to joint loading conditions have been made. One way of quantifying joint loading conditions is by measuring the intra-articular pressure distribution during gait simulations performed by in-vitro experimental set-ups. However the effect of inserting a pressure sensing array in the ankle joint could potentially disturb the proper kinematics and therefore the loading conditions. METHODS: In this study, we performed in-vitro gait simulations in 7 cadaveric feet, before and after inserting a pressure sensing array and quantified the effect on the joints range of motion (ROM). The gait was simulated with a stance phase duration of one second using a custom build cadaveric gait simulator (CGS). RESULTS: The results show a limited effect in the ROM for all the joints of the hind foot, not exceeding the variability observed in specimens without a sensor. However, no consistent direction (increase/decrease) can be observed. CONCLUSION: The results suggest that even though the effect of inserting a pressure sensing array is minimal, it needs to be evaluated against the demands/requirements of the application.

Extrinsic Muscle Forces Affect Ankle Loading Before and After Total Ankle Arthroplasty.

BACKGROUND: Joint loading conditions have an effect on the development and management of ankle osteoarthritis and on aseptic loosening after total ankle arthroplasty (TAA). Apart from body weight, compressive forces induced by muscle action may affect joint loading. However, few studies have evaluated the influence of individual muscles on the intraarticular pressure distribution in the ankle. QUESTION/PURPOSES: The purpose of this study was to measure intraarticular pressure distribution and, in particular, (1) to quantify the effect of individual muscle action on peak-pressure magnitude; and (2) to identify the location of the center of pressure in the weightbearing native ankles and ankles that had TAA. METHODS: Peak pressure and intraarticular center of pressure were quantified during force alterations of four muscle groups (peronei, tibialis anterior, tibialis posterior, and triceps surae) in 10 cadaveric feet. The pressure was measured with a pressure sensitive array before and after implantation of a three-component mobile-bearing TAA prosthesis. Linear mixed-effects models were calculated and the y-intercept (b0) and the slope (b1) of the regression were used to quantify the size of the effect. RESULTS: Mean maximum peak pressures of 2 MPa (± 2.6 MPa) and 6.2 MPa (± 3.6 MPa) were measured for the native and TAA joint respectively. The triceps surae greatly affect the magnitude of peak pressure in the native ankle (slope b1 = 0.174; p = 0.001) and TAA joint (slope b1 = 0.416; p = 0.001). Furthermore, the force of most muscles caused a posterior and lateral shift of the center of pressure in both conditions. CONCLUSIONS: Our results suggest that muscle force production has the potential to alter the pressure distribution in the native ankles and those with and TAA. CLINICAL RELEVANCE: Our study results help us to understand the effect of muscle forces on joint loading conditions which could be used in muscle training strategies and the design of better prosthetic components. Physical therapy or guided exercises may provide the potential to relieve areas in the joint that show signs of early osteoarthritis or reduce the contact stress on prosthetic components, potentially reducing the risk of TAA failure attributable to wear.

An in vitro approach to the evaluation of foot-ankle kinematics: performance evaluation of a custom-built gait simulator.

Despite their well-known limitations, in vitro experiments have several benefits over in vivo techniques when exploring foot biomechanics under conditions characteristic of gait. In this study, we present a new setup for dynamic in vitro gait simulation that integrates a numerical model for generating the tibial kinematics control input, and we present an innovative methodology to measure full three-dimensional joint kinematics during gait simulations. The gait simulator applies forces to the tendons. Tibial kinematics in the sagittal plane is controlled using a numerical model that takes into account foot morphology. The methodology is validated by comparing joint rotations measured during gait simulation with those measured in vivo. In addition, reliability and accuracy of the control system as well as simulation input and output repeatability are quantified. The results reflect good control performance and repeatability of the control inputs, vertical ground reaction force, center of pressure displacement, and joint rotations and translations. In addition, there is a good correspondence to in vivo kinematics for most patterns of motion at the ankle, subtalar, and Chopart's joints. Therefore, these results show the relevance and validity of including specimen-specific information for defining the control inputs.

Specimen-specific tibial kinematics model for in vitro gait simulations.

Until now, the methods used to set up in vitro gait simulations were not specimen specific, inflicting several problems when dealing with specimens of considerably different dimensions and requiring arbitrary parameter tuning of the control variables. We constructed a model that accounts for the geometric dimensions of the specimen and is able to predict the tibial kinematics during the stance phase. The model predicts tibial kinematics of in vivo subjects with very good accuracy. Furthermore, if used in in vitro gait simulation studies, it is able to recreate physiological vertical ground reaction forces. By using this methodology, in vitro studies can be performed by taking the specimen variability into account, avoiding pitfalls with specimens of different dimensions.

In vitro analysis of muscle activity illustrates mediolateral decoupling of hind and mid foot bone motion.

Activity of the extrinsic ankle-foot muscles is typically described for the whole foot. This study determines if this muscle activity is also confirmed for individual foot segments defined in multi-segment foot models used for clinical gait analysis. Analysis of the individual bone motion can identify functional complexes within the foot and evaluates the influence of an altered foot position on muscle activity. A custom designed and built gait simulator incorporating pneumatic actuators is used to control the muscle force of six muscle groups in cadaveric feet. Measurements were performed in three static postures in which individual muscle force was incrementally changed. The motion of four bone embedded LED-clusters was measured using a Krypton motion capture system and resulting motion of calcaneus, talus, navicular and cuboid was calculated. Results indicate that primary muscle activity at bone level corresponds with that described for the whole foot. Secondary activity is not always coherent for bones within one segment: decoupling of the movement of medial and lateral foot bones is documented. Furthermore, secondary muscle activity can alter according to foot position. The observed medio-lateral decoupling of the foot bones dictates the need to extend some of the multi-segment foot models currently used in clinical gait analysis.