A survey of formal methods for determining the centre of rotation of ball joints
A survey of formal methods for determining the centre of rotation of ball joints
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DOI：
10.1016/j.jbiomech.2005.10.002
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发表时间：
2006-01-01
影响因子：
2.4
通讯作者：
Heller, Markus O.
中科院分区：
文献类型：
--
作者：
Ehrig, Rainald M.;Taylor, William R.;Heller, Markus O.
从节段标记位置确定准确的旋转中心（CoR）在广泛的应用中是令人感兴趣的，但特别是用于临床步态分析和用于在膝关节的外科手术介入期间估计髋关节中心，以用于肢体对准目的。本文首次对形式化方法进行了分类、分析和比较（几何、代数、偏差补偿代数和普拉特球拟合方法，以及中心变换技术、Holzreiter方法、螺旋枢轴技术、Schwartz变换技术，最小振幅点法和Stoddart方法），用于从标记位置数据确定球形关节中心。此外，我们提出了一种新的方法，对称CoR估计或SCoRE，其中关节中心的坐标必须相对于每个节段保持恒定，因此不需要假设一个节段应该保持静止。对于每种方法，1000个CoR估计与应用各向同性，将独立且相同分布的高斯噪声（标准差0.1cm）施加到每个标记位置、同时施加到片段上的所有标记以及两者的组合。对于此处使用的测试条件，只要关节的球形活动度（RoM）为45度或更大，大多数技术都能够确定CoR在0.3 cm以内。然而，在最严格的测试条件下，SCoRE能够最好地确定CoR，在RoM为20度的情况下，在大约1.2mm的范围内。这些方法的正确选择和应用将有助于提高手术导航和临床运动学测量的准确性。(c)2005爱思唯尔有限公司保留所有权利。
The determination of an accurate centre of rotation (CoR) from segment marker positions is of interest across a wide range of applications, but particularly for clinical gait analysis and for estimating the hip joint centre during surgical intervention of the knee, for limb alignment purposes. For the first time in this survey of formal methods, we classify, analyse and compare different methods (geometric, algebraic, bias compensated algebraic, and Pratt sphere fit methods, as well as the centre transformation technique, the Holzreiter approach, the helical pivot technique, the Schwartz transformation techniques, the minimal amplitude point method and the Stoddart approach) for the determination of spherical joint centres from marker position data. In addition, we propose a new method, the symmetrical CoR estimation or SCoRE, in which the coordinates of the joint centre must only remain constant relative to each segment, thus not requiring the assumption that one segment should remain at rest.For each method, 1000 CoR estimations were analysed with the application of isotropic, independent and identically distributed Gaussian noise (standard deviation 0.1 cm) to each of the marker positions, to all markers on the segment simultaneously and the two in combination. For the test conditions used here, most techniques were capable of determining the CoR to within 0.3 cm, as long as the spherical range of motion (RoM) of the joint was 45 degrees or more. Under the most stringent conditions tested, however, the SCoRE was capable of best determining the CoR, to within approximately 1.2mm with a RoM of 20 degrees. The correct selection and application of these methodologies should help improve the accuracy of surgical navigation and clinical kinematic measurement. (c) 2005 Elsevier Ltd. All rights reserved.