Effect of the soft tissue artifact on marker measurements and on the calculation of the helical axis of the knee during a squat movement: A study on the CAMS-Knee dataset.

BACKGROUND: Marker-based motion capture recordings of human body segments are often affected by soft tissue artifact (STA). The undesired and uncontrolled motion of the skin may introduce errors in the estimation of motion and position of body segments and, consequently, in the calculation of the relative functional quantities. METHODS: This study exploited a recently published dataset consisting of six adult subjects that underwent a total knee arthroplasty. The subject performed squat tasks while the motion was concurrently recorded by passive markers attached to the skin of the lower limbs, an optoelectronic system, and a fluoroscope. The STA of shank and thigh was decomposed in local deformation and rigid motion. Additionally, we studied how the instantaneous helical axis (IHA) calculation is affected by STA. FINDINGS: The cluster most affected by STA rigid motion was the thigh. The largest estimated effects were about 7 deg. and about 20 mm. The largest effect of local deformation was about 25 mm, and it was observed on the thigh cluster. INTERPRETATION: The STA made the estimation of the IHA unreliable for both position and direction. The choice of the reference configuration influenced the results of the STA analysis.

An optimal method for calculating an average screw axis for a joint, with improved sensitivity to noise and providing an analysis of the dispersion of the instantaneous axes.

The instantaneous (ISA) and average (ASA) screw axes are techniques commonly adopted in motion analysis to functionally locate the rotation axis and center of rotation of a joint. Several approaches for calculating such axes were proposed in literature and the main limitations were identified as the need for using a threshold on angular displacements or velocities for handling the cases where the ISA is ill-defined and the need for a method for reliably estimating the center or rotation in limit cases, such as a purely rotational motion in the three-dimensional space. Furthermore, in many applications, such as in biomechanics, it is useful to statistically estimate the dispersion or variation of the ISA with respect to the ASA. In this paper we propose a novel method for estimating an ASA. Our method represents an improvement over previous methods as it: (i) exploits an optimization procedure based on the instantaneous differential kinematics (screw twist); (ii) removes the need for a threshold by introducing a weighting based on the norm of angular velocity; (iii) handles the singular cases where the position of the ASA is ill-defined by proposing a regularization term in the optimization. In addition, we proposed a method for estimating the uncertainty in the ASA calculation. The same quantities serve as a measure of the dispersion of the ISAs with respect to the ASA. The method was tested on real data and surrogate data: (i) a human gait analysis trial representing the motion of a knee, (ii) the experimental recording of the free swing motion of a mechanical hinge and (iii) synthetically generated motion data of a purely rotational (cylindrical) motion. The results showed that the new method had a lower sensitivity to noise, was able to reasonably handle the singular cases and provide a detailed analysis of ISA dispersion.

A Novel Procedure for Knee Flexion Angle Estimation Based on Functionally Defined Coordinate Systems and Independent of the Marker Landmarks.

Knee angles are kinematic quantities that are commonly presented in gait analysis reports. They are typically calculated as the relative angles between the anatomical coordinate systems rigidly attached to the femur and the tibia. To give these angles a biomechanical meaning, the coordinate systems must be defined with respect to some anatomical landmarks. For example, if one axis of the joint coordinate systems is directed along the knee flexion/extension axis, then the relative angle assumes the meaning of flexion/extension angle. Defining accurate anatomical coordinate systems is not an easy task, because it requires skills in marker placement, landmark identification and definition of a biomechanical model. In this paper, we present a novel method to (i) functionally define two coordinate systems attached to femur and tibia and (ii) functionally calculate the knee angle based on the relative differential kinematics between the previously defined coordinate systems. As the main limitation, this method is unable to provide an absolute measurement of the knee flexion/extension angle; however, it is able to accurately capture and display the relative angular motion of the knee. We show that our method produced consistent results even when the measured coordinate systems were randomly modified, removing any anatomical referencing. The proposed method has the advantage of being independent/invariant of the choice of the original coordinate systems of the femur and tibia, removing the need for accurate marker placement. Some major consequences are that (i) the markers may be placed on optimal landmarks, for example, minimizing the soft tissue artifacts or improving the subject's comfort, and (ii) there is no need for anatomical calibration when technical marker clusters/triads are used.

Effect of the soft tissue artifact on marker measurements and on the calculation of the helical axis of the knee during a gait cycle: A study on the CAMS-Knee data set.

The soft tissue artifact (STA) is a phenomenon occurring when the motion of bones or anatomical segments is measured by means of skin markers: the biological tissues between the markers and the bone produce a relative motion bone-markers that leads to inaccuracies in the estimation of rigid body poses or kinematics. The aim of this study was to quantify the STA by exploiting a recently published gait analysis dataset. The dataset was composed of six adult subjects with a total knee arthroplasty who underwent gait analysis trials. The motion of the knee was concurrently recorded by means of (i) fluoroscopy imaging and (ii) an optoelectronic system and redundant markers attached to the thigh and shank. The STA was studied by comparing the results calculated on the marker sets with the results obtained from the fluoroscopy data. The stance and swing phases were considered separately. Rigid STA motion and local STA deformation were studied separately. In addition to previous studies, the instantaneous helical axis (IHA) of the knee was calculated and the effect of the STA on its calculation was assessed. The largest rigid-motion STA effect was observed on the thigh cluster (~10 deg. and ~ 18 mm). The shank cluster was mainly affected during the swing phase (~7 deg. and ~ 17 mm). The local STA deformation affected differently the markers. The largest effect was ~16 mm and the lowest was ~4 mm. The estimation of the IHA was not reliable when based only on markers, having an estimation error of ~17 deg. and ~ 25 mm. A high variability of results across subjects was observed.

Treatment Response to Botulinum Neurotoxin-A in Children With Cerebral Palsy Categorized by the Type of Stretch Reflex Muscle Activation.

While Botulinum NeuroToxin-A (BoNT-A) injections are frequently used to reduce the effects of hyperactive stretch reflexes in children with cerebral palsy (CP), the effects of this treatment vary strongly. Previous research, combining electromyography (EMG) with motion analysis, defined different patterns of stretch reflex muscle activation in muscles, those that reacted more to a change in velocity (velocity dependent -VD), and those that reacted more to a change in length (length dependent -LD). The aim of this study was to investigate the relation between the types of stretch reflex muscle activation in the semitendinosus with post-BoNT-A outcome as assessed passively and with 3D gait analysis in children with spastic CP. Eighteen children with spastic CP (10 bilaterally involved) between the ages of 12 and 18 years were assessed before and on average, 8 weeks post-treatment. EMG and motion analysis were used to assess the degree and type of muscle activation dependency in the semitendinosus during passive knee extensions performed at different joint angular velocities. Three-dimensional gait analysis was used to assess knee gait kinematics as a measure of functional outcome. Pre-treatment, 9 muscles were classified as VD and 9 as LD, but no differences between the groups were evident in the baseline knee gait kinematics. Post-treatment, stretch reflex muscle activation decreased significantly in both groups but the reduction was more pronounced in those muscles classified pre-treatment as VD (-72% vs. -50%, p = 0.005). In the VD group, these changes were accompanied by greater knee extension at initial contact and during the swing phase of gait. In the LD group, there was significantly increased post-treatment knee hyperextension in late stance. Although results vary between patients, the reduction of stretch reflex muscle activation in the semitendinosus generally translated to an improved functional outcome, as assessed with 3D gait analysis. However, results were less positive for those muscles with pre-treatment length-dependent type of stretch reflex muscle activation. The study demonstrates the relevance of categorizing the type of stretch reflex muscle activation as a possible predictor of treatment response.

Gait Trajectory and Event Prediction from State Estimation for Exoskeletons During Gait.

A real-time method is proposed to obtain a single, consistent probabilistic model to predict future joint angles, velocities, accelerations and jerks, together with the timing for the initial contact, foot flat, heel off and toe off events. In a training phase, a probabilistic principal component model is learned from normal walking, which is used in the online phase for state estimation and prediction. This is validated for normal walking and walking with an exoskeleton. Without exoskeleton, both joint trajectories and gait events are predicted without bias. With exoskeleton, the trajectory prediction is unbiased, but event prediction is slightly biased with a maximum of 33 ms for the toe off event. Performance is compared with predictions based on only the population mean. Without exoskeleton, estimation errors are 5 to 30% lower with our method. With exoskeleton, trajectory prediction errors are up to 20% lower, but gait event prediction errors only improve for foot flat (30%) and are worse for other events (30%-50%). The ability to predict future joint trajectories and gait events offers opportunities to design exoskeleton controllers which anticipate these trajectories and events, allowing better tracking control and smoother, accurately timed transitions between different control modes.

Semi-automatic methods for tracking the medial gastrocnemius muscle-tendon junction using ultrasound: a validation study.

NEW FINDINGS: What is the central question of this study? Is the proposed semi-automatic algorithm suitable for tracking the medial gastrocnemius muscle-tendon junction in ultrasound images collected during passive and active conditions? What is the main finding and its importance? The validation of a method allowing efficient tracking of the muscle-tendon junction in both passive and active conditions, in healthy as well as in pathological conditions. This method was tested in common acquisition conditions and the developed software made freely available. ABSTRACT: Clinically relevant information can be extracted from ultrasound (US) images by tracking the displacement of the junction between muscle and tendon. This paper validated automatic methods for tracking the location of muscle-tendon junction (MTJ) between the medial gastrocnemius and the Achilles tendon during passive slow and fast stretches, and active ankle rotations while walking on a treadmill. First, an automatic algorithm based on an optical flow approach was applied on collected US images. Second, results of the automatic algorithm were evaluated and corrected using a quality measure that indicated which critical images need to be manually corrected. US images from 12 typically developed (TD) children, 12 children with spastic cerebral palsy (SCP) and eight healthy adults were analysed. Automatic and semi-automatic tracking methods were compared to manual tracking using root mean square errors (RMSE). For the automatic tracking, RMSE was less than 3.1 mm for the slow stretch and 5.2 mm for the fast stretch, the worst case being for SCP. The tracking results in the fast stretch condition were improved (especially in SCP) by using the semi-automatic approach, with an RMSE reduction of about 30%. During walking, the semi-automatic method also reduced errors, with a final RMSE of 3.6 mm. In all cases, data processing was considerably shorter using the semi-automatic method (2 min) compared to manual tracking (20 min). A quick manual correction considerably improves tracking of the MTJ during gait and allows to achieve results suitable for further analyses. The proposed algorithm is freely available.

Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System.

The motion of a rigid body can be represented by the instantaneous screw axis (ISA, also known as the helical axis). Recently, an invariant representation of motion based on the ISA, namely, the screw axis invariant descriptor (SAID), was proposed in the literature. The SAID consists of six scalar features that are independent from the coordinate system chosen to represent the motion. This method proved its usefulness in robotics; however, a high sensitivity to noise was observed. This paper aims to explore the performance of inertial sensors for the estimation of the ISA and the SAID for a simple experimental setup based on a hinge joint. The free swing motion of the mechanical hinge was concurrently recorded by a marker-based optoelectronic system (OS) and two magnetic inertial measurement units (MIMUs). The ISA estimated by the MIMU was more precise, while the OS was more accurate. The mean angular error was ≈2.2° for the OS and was ≈4.4° for the MIMU, while the mean standard deviation was ≈2.3° for the OS and was ≈0.2° for the MIMU. The SAID features based on angular velocity were better estimated by the MIMU, while the features based on translational velocity were better estimated by the OS. Therefore, a combination of both measurements systems is recommended to accurately estimate the complete SAID.

A probabilistic method to estimate gait kinetics in the absence of ground reaction force measurements.

Human joint torques during gait are usually computed using inverse dynamics. This method requires a skeletal model, kinematics and measured ground reaction forces and moments (GRFM). Measuring GRFM is however only possible in a controlled environment. This paper introduces a probabilistic method based on probabilistic principal component analysis to estimate the joint torques for healthy gait without measured GRFM. A gait dataset of 23 subjects was obtained containing kinematics, measured GRFM and joint torques from inverse dynamics in order to obtain a probabilistic model. This model was then used to estimate the joint torques of other subjects without measured GRFM. Only kinematics, a skeletal model and timing of gait events are needed. Estimation only takes 0.28 ms per time instant. Using cross-validation, the resulting root mean square estimation errors for the lower-limb joint torques are found to be approximately 0.1 Nm/kg, which is 6-18% of the range of the ground truth joint torques. Estimated joint torque and GRFM errors are up to two times smaller than model-based state-of-the-art methods. Model-free artificial neural networks can achieve lower errors than our method, but are less repeatable, do not contain uncertainty information on the estimates and are difficult to use in situations which are not in the learning set. In contrast, our method performs well in a new situation where the walking speed is higher than in the learning dataset. The method can for example be used to estimate the kinetics during overground walking without force plates, during treadmill walking without (separate) force plates and during ambulatory measurements.

Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements.

BACKGROUND: Currently, control of exoskeletons in rehabilitation focuses on imposing desired trajectories to promote relearning of motions. Furthermore, assistance is often provided by imposing these desired trajectories using impedance controllers. However, lower-limb exoskeletons are also a promising solution for mobility problems of individuals in daily life. To develop an assistive exoskeleton which allows the user to be autonomous, i.e. in control of his motions, remains a challenge. This paper presents a model-based control method to tackle this challenge. METHODS: The model-based control method utilizes a dynamic model of the exoskeleton to compensate for its own dynamics. After this compensation of the exoskeleton dynamics, the exoskeleton can provide a desired assistance to the user. While dynamic models of exoskeletons used in the literature focus on gravity compensation only, the need for modelling and monitoring of the ground contact impedes their widespread use. The control strategy proposed here relies on modelling of the full exoskeleton dynamics and of the contacts with the environment. A modelling strategy and general control scheme are introduced. RESULTS: Validation of the control method on 15 non-disabled adults performing sit-to-stand motions shows that muscle effort and joint torques are similar in the conditions with dynamically compensated exoskeleton and without exoskeleton. The condition with exoskeleton in which the compensating controller was not active showed a significant increase in human joint torques and muscle effort at the knee and hip. Motor saturation occurred during the assisted condition, which limited the assistance the exoskeleton could deliver. CONCLUSIONS: This work presents the modelling steps and controller design to compensate the exoskeleton dynamics. The validation seems to indicate that the presented model-based controller is able to compensate the exoskeleton.

Combining muscle morphology and neuromotor symptoms to explain abnormal gait at the ankle joint level in cerebral palsy.

BACKGROUND: Individuals with spastic cerebral palsy (CP) have neuromotor symptoms contributing towards their gait patterns. However, the role of altered muscle morphology alongside these symptoms is yet to be fully investigated. RESEARCH QUESTION: To what extent can medial gastrocnemius and tibialis anterior volume and echo-intensity, plantar/dorsiflexion strength and selective motor control, plantarflexion spasticity and passive ankle dorsiflexion explain abnormal ankle gait. METHOD: In thirty children and adolescents with spastic CP (8.6 ± 3.4 y/mo) and ten typically developing peers (9.9 ± 2.4 y/mo), normalised muscle volume and echo-intensity were estimated. Both cohorts also underwent three-dimensional gait analysis, whilst for participants with spastic CP, plantar/dorsi-flexion strength and selective motor control, plantarflexion spasticity and maximum ankle dorsiflexion were also measured. The combined contribution of these parameters towards five clinically meaningful features of gait were evaluated, using backwards multiple regression analyses. RESULTS: With respect to the typically developing cohort, the participants with spastic CP had deficits in normalised medial gastrocnemius and tibialis anterior volume of 40% and 33%, and increased echo-intensity values of 19% and 16%, respectively. The backwards multiple regression analyses revealed that the combination of reduced ankle dorsiflexion, muscle volume, plantarflexion strength and dorsiflexion selective motor control could account for 12-62% of the variance in the chosen features of gait. SIGNIFICANCE: The combination of altered muscle morphology and neuromotor symptoms partly explained abnormal gait at the ankle in children with spastic CP. Both should be considered as important measures for informed treatment decision-making, but further work is required to better unravel the complex pathophysiology.

Medial gastrocnemius volume and echo-intensity after botulinum neurotoxin A interventions in children with spastic cerebral palsy.

AIM: This cross-sectional investigation evaluated whether recurrent botulinum neurotoxin A (BoNT-A) interventions to the medial gastrocnemius have an influence on muscle morphology, beyond Gross Motor Function Classification System (GMFCS) level. METHOD: A cohort of typically developing children (n=67; 43 males, 24 females; median age 9y 11mo [range 7y 10mo-11y 6mo]), a cohort of children with spastic cerebral palsy (CP) naive to BoNT-A interventions (No-BoNT-A; n=19; 10 males, nine females; median age 9y 3mo [range 8y 5mo-10y 10mo]) and a cohort of children with spastic CP with a minimum of three recurrent BoNT-A interventions to the medial gastrocnemius (BoNT-A; n=19; 13 males, six females; median age 9y 8mo [range 7y 3mo-10y 7mo]) were recruited. Three-dimensional freehand ultrasound was used to estimate medial gastrocnemius volume normalized to body mass and echo-intensity. RESULTS: Normalized medial gastrocnemius volume and echo-intensity significantly differed between the two spastic CP cohorts (p≤0.05), with the BoNT-A cohort having larger alterations. Associations between normalized medial gastrocnemius volume and echo-intensity were highest in the No-BoNT-A cohort, followed by the BoNT-A cohort. Multiple regression analyses revealed that both GMFCS level and BoNT-A intervention history were significantly associated with smaller normalized medial gastrocnemius volume and higher echo-intensity. INTERPRETATION: Recurrent BoNT-A interventions may induce alterations to medial gastrocnemius volume and echo-intensity beyond the natural history of the spastic CP pathology. WHAT THIS PAPER ADDS: In spastic cerebral palsy, medial gastrocnemius volumes are smaller and echo-intensities higher compared with typical development. Alterations after botulinum neurotoxin A intervention (BoNT-A) are larger than in no BoNT-A intervention. Gross Motor Function Classification System level and BoNT-A history significantly associate with medial gastrocnemius and echo-intensity alterations.

VOLUMEN DEL MÚSCULO GASTROCNEMIUS MEDIAL E INTENSIDAD DE LA ECOGRAFÍA DESPUÉS DE LA COLOCACIÓN DE NEUROTOXINA BOTULÍNICA (TIPO A), EN NIÑOS CON PARÁLISIS CEREBRAL ESPÁSTICA (PC): OBJETIVO: Esta investigación de corte transversal evaluó si la colocación recurrente de neurotoxina botulínica tipo A (BoNT-A) en el músculo gastrocnemius medial tienen una influencia en la morfología muscular, más allá del nivel del Sistema de Clasificación de la Función Motora Gruesa (GMFCS, siglas en ingles). MÉTODO: Una cohorte de niños con desarrollo tipico (n = 67; 43 varones, 24 mujeres; mediana de edad 9 años 11 meses [rango 7 años 10 meses -11 años 6 meses]), otra cohorte de niños con parálisis cerebral espástica (PC) que no habían recibido intervenciones de BoNT-A ( n = 19; 10 hombres, nueve mujeres; mediana de edad 9 años 3 meses [rango 8 años 5 meses -10 años 10 meses]) y una cohorte de niños con PC espástica con un mínimo de tres administraciones recurrentes de BoNT-A en el músculo gastrocnemius medial (BoNT-A; n = 19; 13 varones, seis mujeres; mediana de edad 9 años 8 meses [rango 7 años 3 meses - 10 años 7 meses]) fueron reclutados. Se usó ultrasonido tridimensional a mano alzada para estimar el volumen del músculo gastrocnemius medial normalizado a la masa corporal y la intensidad del eco. RESULTADOS: El volumen del músculo gastrocnemius medial normalizado y la intensidad del eco difirieron significativamente entre las dos cohortes de PC espástica (p≤0,05), la cohorte BoNT-A tuvo alteraciones mayores. Las asociaciones entre el volumen músculo gastrocnemius medial normalizado y la intensidad del eco fueron más altas en la cohorte No-BoNT-A, seguidas de la cohorte BoNT-A. Los análisis de regresión múltiple revelaron que tanto el nivel de GMFCS como el antecedente de intervención de BoNT-A se asociaron significativamente con un volumen del músculo gastrocnemius medial normalizado más pequeño y una mayor intensidad de eco. INTERPRETACIÓN: La colocación recurrentes de BoNT-A pueden inducir alteraciones en el volumen del músculo gastrocnemius medial y en la intensidad del eco más allá de la historia natural de la patología por PC espástica.

VOLUME E ECO-INTENSIDADE DO MÚSCULO GASTROCNÊMIO MEDIAL APÓS INTERVENÇÕES COM NEUROTOXINA BOTULÍNICA A EM CRIANÇAS COM PARALISIA CEREBRAL ESPÁSTICA: OBJETIVO: Esta investigação transversal avaliou se intervenções recorrentes com neurotoxina botulínica A (NTBo-A) no músculo gastrocnêmio medial têm influência na morfologia muscular, além do nível segundo o Sistema de Classificação da Função Motora Grossa (GMFCS). MÉTODO: Uma coorte de crianças com desenvolvimento típico (n=67; 43 do sexo masculino, 24 do sexo feminino; idade mediana 9a 11m [variação 7a 10m-11a 6m]), uma coorte de crianças com paralisia cerebral espástica (PC) que nunca recebeu intervenções com NTBo-A (No-NTBo-A; n=19; 10 do sexo masculino, nove do sexo feminino; idade mediana 9a 3m [variação 8a 5m-10a 10m]) e uma coorte de crianças com PC espástica com no mínimo três intervenções de NTBo-A no músculo gastrocnêmio medial (NTBo-A; n=19; 13 do sexo mascuino, seis do sexo feminino; idade mediana 9a 8m [variação 7a 3m-10a 7m]) foram recrutadas. Ultrassom tridimensional foi usado para estimar o volume do gastrocnêmio normalizado para a massa corporal e eco-intensidade. RESULTADOS: O volume normalizado e eco-intensidade do músculo gastrocnêmio medial diferiu significantemente entre as duas coortes de PC espástica (p≤0,05), com a coorte NTBo-A tendo maiores alteracões. Associações entre o volume normalizado do gastrocnêmio e eco-intensidade foram maiores na coorte No-NTBo-A, seguida pela coorte NTBo-A. Análises de regressão múltipla revelaram que tanto o nível GMFCS quanto a história de intervenção com NTBo-A foram significativamente associadas com menor volume normalizado do músculo gastrocnêmio medial e maior eco-intensidade. INTERPRETAÇÃO: Intervenções recorrentes com NTBo-A podem induzir alterações no volume e eco-intensidade do músculo gastrocnêmio medial, além da história natural da patologia da PC espástica.

Efficient image based method using water-filled balloons for improving probe spatial calibration in 3D freehand ultrasonography.

The ultrasound (US) probe spatial calibration is a key prerequisite for enabling the use of the 3D freehand US technique. Several methods have been proposed for achieving an accurate and precise calibration, although these methods still require specialised equipment. This equipment is often not available in research or clinical facilities. Therefore, the present investigation aimed to propose an efficient US probe calibration method that is accessible in terms of cost, easy to apply and capable of achieving results suitable for clinical applications. The data acquisition was carried out by performing two perpendicular US sweeps over water filled balloon phantoms. The data analysis was carried out by computing the similarity measures between 2D images from the first sweep and the corresponding images of the 3D reconstruction of the second sweep. These measures were maximized by using the Nelder-Mead algorithm, to find the optimal solution for the calibration parameters. The calibration results were evaluated in terms of accuracy and precision by comparing known phantom geometries with those extracted from the US images. The accuracy and the precision after applying the calibration method were improved. By using the parameters obtained from the plane phantom method as initialization of the calibration parameters, the accuracy and the precision in the best scenario was 0.4 mm and 1.5 mm, respectively. These results were in line with the methods requiring specialised equipment. However, the applied method was unable to consistently produce this level of accuracy and precision. The calibration parameters were also tested in a musculoskeletal application, revealing sufficient matching of the relevant anatomical features when multiple US sweeps are combined in a 3D reconstruction. To improve the current results and increase the reproducibility of this research, the developed software is made available.

Medial Gastrocnemius Muscle-Tendon Junction and Fascicle Lengthening across the Range of Motion Analyzed in 2-D and 3-D Ultrasound Images.

Ultrasound imaging modalities offer a clinically viable method to visualize musculoskeletal structures. However, proper data comparison between investigations is compromised because of a lack of measurement error documentation and method standardization. This investigation analyzes the reliability and validity of extracting medial gastrocnemius belly and fascicle lengths and pennation angles in different ankle joint positions, across the full range of motion, in a cohort of 11 children with spastic cerebral palsy and 11 typically developed children. Each of these parameters was extracted from two consecutive acquisitions, using both 2-D and 3-D ultrasound images. The findings suggest that the muscle tendon junction extraction in 2-D images can be a suitable parameter for analyzing medial gastrocnemius muscle length in typically developed children and children with spastic cerebral palsy, although averaging over multiple measurements is recommended to reduce variability. More caution should be taken when performing analyses based on fascicle length.

An innovative solution to reduce muscle deformation during ultrasonography data collection.

BACKGROUND: 3D freehand ultrasound enables the creation of volumetric data. The acquisition of morphological features, such as muscle volume, is influenced by the variations in force applied to the skin with the ultrasound probe. To minimise the deformations, a concave-shaped plastic mount combined with a custom-shaped gel pad was developed for the ultrasound head, named Portico. This study analyses to what extent the Portico reduces muscle deformation and corresponding errors in estimating muscle volume. METHOD: Twenty medial gastrocnemius (MG) muscles were assessed (10 from typically developing children; 10 from children with spastic cerebral palsy). Two repetitions were acquired in each of the following approaches: (1) with the lower leg submerged in a water tank as a non-deformed reference; (2) probe-on-skin (PoS) as the conventional approach and (3) the newly introduced Portico. PoS and Portico data were registered with respect to the ones corresponding in a water tank. An in-house software package (Py3DFreeHandUS) was used to process the data and MG volume was estimated using MeVisLab. The minimal detectable change (MDC) was calculated. RESULTS: With respect to the PoS approach, the Portico reduced muscle deformation by 46%. For both the typically developing and spastic cerebral palsy cohorts, lower MDCs were found when using the Portico. DISCUSSION: Despite the improvements, the Portico did not yield statistically more reliable MG volume estimations than the traditional PoS approach. Further improvement can be attained by optimising the fit between the gel pad and the curvature of the limb, using a larger choice of Portico geometries.

Reliability of a clinical 3D freehand ultrasound technique: Analyses on healthy and pathological muscles.

BACKGROUND AND OBJECTIVE: 3D freehand Ultrasonography is a medical imaging technique that can be used to measure muscle and tendon morphological and structural properties, including volume, lengths and echo-intensity. These properties are clinically relevant in neurological disorders such as spastic cerebral palsy to monitor disease progression and evaluate the effect of treatment. This study presents a methodology for extracting these parameters along with a clinical reliability analysis for the data acquisition and processing. METHODS: The medial gastrocnemius muscles and Achilles tendon of 10 typically developing children and 10 children with spastic cerebral palsy were assessed. An open-source in-house software library developed in Python (Py3DFreeHandUS) was used to reconstruct, into one 3D data set, the data simultaneously acquired from an US machine and a motion tracking system. US images were manually segmented and linearly interpolated by means of a new simplified approach which involved sequentially decreasing the total number of images used for muscle border segmentation from 100% to 5%. Acquisition and processing reliability was defined based on repeated measures from different data processers and from different data acquirers, respectively. RESULTS: When only 10% of the US images were outlined, there was an average underestimation of muscle volume of 1.1% and 1.6% with respect the computation of all the available images, for the typically developing and spastic cerebral palsy groups, respectively. For both groups, the reliability was higher for data processing than for data acquisition. High inter-class correlation coefficient values were found for processing and acquisition reliability, with worst case values of 0.89 and 0.61, respectively. The standard error of measurement, expressed as a percentage of the average volumes, was smaller than 2.6 ml (4.8%) in all cases. CONCLUSIONS: The present analysis demonstrates the effectiveness of applying 3D freehand ultrasonography in a clinical setting for analysing healthy and pathological paediatric muscle.

Can in Vivo Medial Gastrocnemius Muscle-Tendon Unit Lengths be Reliably Estimated by Two Ultrasonography Methods? A Within-Session Analysis.

A clinically feasible method to reliably estimate muscle-tendon unit (MTU) lengths could provide essential diagnostic and treatment planning information. A 3-D freehand ultrasound (3-DfUS) method was previously validated for extracting in vivo medial gastrocnemius (MG) lengths, although the processing time can be considered substantial for the clinical environment. This investigation analyzed a quicker and simpler method using the US transducer as a spatial pointer (US-PaP), where the within-session reliability of extracting the muscle-tendon unit (MTU) and tendon lengths are estimated. MG MTU lengths were extracted in a group of 14 healthy adults using both 3-DfUS and US-PaP. Two consecutive acquisitions were performed per participant, and the data processed by two researchers independently. The intra-class correlation coefficients were above 0.97, and the standard error of measurements below 3.6 mm (1.5%). This investigation proposes that the simplified US-PaP method is a viable alternative for estimating MG MTU lengths.

Estimating medial gastrocnemius muscle volume in children with spastic cerebral palsy: a cross-sectional investigation.

AIM: This cross-sectional investigation evaluates the reliability of estimating medial gastrocnemius anatomical cross-sectional area (aCSA) in typically developing and spastic cerebral palsy (SCP) cohorts. It verifies whether muscle volume estimations based on aCSA improve when aCSA is multiplied by muscle-tendon unit (MTU) or muscle length, and whether the resulting errors in volume estimations are smaller than changes after intervention. METHOD: Fifteen typically developing children (mean age 8y 2mo [SD 1y 5mo], six males, nine females) and 30 children with SCP (mean age 9y 2mo [SD 2y 5mo], 22 males, eight females, Gross Motor Function Classification System [GMFCS] level I=15, II=15) participated in the investigation. The SCP cohort was divided according to GMFCS level. A three-dimensional freehand ultrasound technique was used to estimate medial gastrocnemius aCSA, muscle volume, MTU, and muscle length. Estimated muscle volume (aCSA×MTU or muscle length) was compared with the measured muscle volume. RESULTS: Anatomical cross-sectional area, muscle volume, and muscle length significantly differed between the typically developing and two SCP cohorts (p≤0.050). aCSA multiplied by either MTU or muscle length improved estimations of medial gastrocnemius volume. Leave-one-out cross-validation revealed an absolute difference with measured muscle volume of 3.77 ml (SD 2.90). INTERPRETATION: This investigation revealed that medial gastrocnemius muscle volume can be reliably estimated in a clinically feasible manner in typically developing children and those with SCP. WHAT THIS PAPER ADDS: Medial gastrocnemius anatomical cross-sectional area (aCSA) can be reliably estimated in children with spastic cerebral palsy. The location of the anatomical cross-section should be taken with respect to muscle and not bone length. Medial gastrocnemius volume can be reliably estimated by multiplying aCSA and muscle length. The errors in volume estimations are smaller than reported differences after interventions.

Motorized versus manual instrumented spasticity assessment in children with cerebral palsy.

AIM: We compared the outcomes of manual and motorized instrumented ankle spasticity assessments in children with cerebral palsy (CP). METHOD: Ten children with spastic CP (three males, seven females; mean age 11y [standard deviation 3y], range 6-14y; Gross Motor Function Classification System levels I-III) were included. During motorized assessments, fast (100°/s) rotations were imposed around the ankle joint by a motor-driven footplate; during manual assessments, rotations of comparable speed were applied by a therapist using a foot orthotic. Angular range of motion, maximum velocity, acceleration, work, and muscle activity (electromyography [EMG]) of the triceps surae and tibialis anterior were compared during passive muscle stretch between motorized and manual assessments. Both movement profiles were also compared to CP gait ankle movement profile. RESULTS: The imposed movement profile differed between methods, with the motorized assessment reaching higher maximum acceleration. Despite equal maximum velocity, the triceps surae were more often activated in motorized assessments, with low agreement of 44% to 72% (κ≤0) for EMG onset occurrence between methods. The manually applied ankle velocity profile matched more closely with the gait profile. INTERPRETATION: The differences in acceleration possibly account for the different muscle responses, which may suggest acceleration, rather than velocity-dependency of the stretch reflex. Future prototypes of instrumented spasticity assessments should standardize movement profiles, preferably by developing profiles that mimic functional tasks such as walking.

The reliability and validity of a clinical 3D freehand ultrasound system.

BACKGROUND AND OBJECTIVE: Acquiring large anatomical volumes in a feasible manner is useful for clinical decision-making. A relatively new technique called 3D freehand ultrasonography is capable of this by combining a conventional 2D ultrasonography system. Currently, a thorough analysis of this technique is lacking, as the analyses are dependent on the software implementation details and the choice of measurement systems. Therefore this study starts by making this implementation available under the form of an open-source software library to perform 3D freehand ultrasonography. Following that, reliability and validity analyses of extracting volumes and lengths will be carried out using two independent motion-tracking systems. METHODS: A PC-based ultrasonography device and two optical motion-tracking systems were used for data acquisition. An in-house software library called Py3DFreeHandUS was developed to reconstruct (off-line) the corresponding data into one 3D data set. Reliability and validity analyses of the entire experimental set-up were performed by estimating the volumes and lengths of ground truth objects. Ten water-filled balloons and six cross-wires were used. Repeat measurements were also performed by two experienced operators. RESULTS: The software library Py3DFreeHandUS is available online, along with the relevant documentation. The reliability analyses showed high intra- and inter-operator intra-class correlation coefficient results for both volumes and lengths. The accuracy analysis revealed a discrepancy in all cases of around 3%, which corresponded to 3 ml and 1 mm for volume and length measurements, respectively. Similar results were found for both of the motion-tracking systems. CONCLUSIONS: The undertaken analyses for estimating volume and lengths acquired with 3D freehand ultrasonography demonstrated reliable design measurements and suitable performance for applications that do not require sub-mm and -ml accuracy.