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The success of kinematic analysis that relies on inertial measurement units (IMUs) heavily depends on the performance of the underlying algorithms. Quantifying the level of uncertainty associated with the models and approximations implemented within these algorithms, without the complication of soft-tissue artefact, is therefore critical. To this end, this study aimed to assess the rotational errors associated with controlled movements. Here, data of six total knee arthroplasty patients from a previously published fluoroscopy study were used to simulate realistic kinematics of daily activities using IMUs mounted to a six-degrees-of-freedom joint simulator. A model-based method involving extended Kalman filtering to derive rotational kinematics from inertial measurements was tested and compared against the ground truth simulator values. The algorithm demonstrated excellent accuracy (root-mean-square error ≤0.9°, maximum absolute error ≤3.2°) in estimating three-dimensional rotational knee kinematics during level walking. Although maximum absolute errors linked to stair descent and sit-to-stand-to-sit rose to 5.2° and 10.8°, respectively, root-mean-square errors peaked at 1.9° and 7.5°. This study hereby describes an accurate framework for evaluating the suitability of the underlying kinematic models and assumptions of an IMU-based motion analysis system, facilitating the future validation of analogous tools.

The implantation of total knee replacements is an effective treatment for advanced degenerative knee joint diseases. Implant positioning relative to the bones affects the loads occurring in the artificial joint, joint stability, and postoperative functionality. Variance in implant positioning during the surgical implantation of a total knee replacement cannot be entirely ruled out. By simulating implant malpositioning in an experimental setting, particularly critical cases of malalignment can be identified, from which guidelines for orthopedic surgeons can be derived. The AMTI VIVO™ six degree of freedom joint simulator allows reproducible preclinical testing of joint endoprostheses under specific kinematic and loading conditions. It features a virtual ligament model that defines up to 100 ligament fibers between the articulating components. This paper presents a method to investigate the effect of different implant positions on the biomechanics of the knee after total knee arthroplasty. For this, the VIVO joint simulator requires no modification of the physical setup by moving virtual ligament insertion points relative to the bone. As a proof of concept, exemplary shifts and rotations of the femoral and tibial implant components are performed, and dynamic results are compared to a musculoskeletal multibody digital twin and findings from the literature. Video Abstract.

Preclinical testing of total knee replacements (TKR) is crucial for evaluating new implant designs. Dynamic experimental testing focus mostly on level walking and squats, failing to represent a full range of daily activities. Moreover, the contribution of the ligament apparatus is often simplified. Therefore, this study transferred five daily activity load cases—level walking, downhill walking, stair descent, squat, and sit-to-stand—onto a six-degree-of-freedom (6-DOF) joint simulator with a cruciate-retaining bicondylar TKR and a virtual ligament apparatus. Forces and kinematics were based on telemetric data from an ultra-congruent TKR. The resulting kinematics, kinetics, and tibiofemoral contact surfaces were evaluated. Additionally, variations of the virtual ligament apparatus on the joint simulator, e.g. resection of the posterior cruciate ligament (PCL), have been used to assess its influence on the resulting joint dynamics. Results showed that tibiofemoral contact area was more influenced by dynamics than kinematics. Virtual PCL resection shifted the tibia posteriorly (up to 3 mm) and increased abduction (up to 0.5°). Different results were seen across all load cases. The exceptions are the squat and sit-to-stand load cases with similar patterns. Thus, cruciate-retaining TKR can be tested using telemetric data from ultra-congruent TKR, aiding in comprehensive evaluations.

Background Despite advances in total knee arthroplasty, many patients are still unsatisfied with the functional outcome. Multibody simulations enable a more efficient exploration of independent variables compared to experimental studies. However, to what extent numerical models can fully reproduce knee joint kinematics is still unclear. Hence, models must be validated with different test scenarios before being applied to biomechanical questions. Methods In our feasibility study, we analyzed a human knee specimen on a six degree of freedom joint simulator, applying a passive flexion and different laxity tests with sequential states of ligament resection while recording the joint kinematics. Simultaneously, we generated a subject-specific multibody model of the native tibiofemoral joint considering ligaments and contact between articulating cartilage surfaces. Results Our experimental data on the sequential states of ligament resection aligned well with the literature. The model-based knee joint kinematics during passive flexion showed good agreement with the experiment, with root-mean-square errors of less than 1.61 mm for translations and 2.1° for knee joint rotations. During laxity tests, the experiment measured up to 8 mm of anteroposterior laxity, while the numerical model allowed less than 3 mm. Conclusion Although the multibody model showed good agreement to the experimental kinematics during passive flexion, the validation showed that ligament parameters used in this feasibility study are too stiff to replicate experimental laxity tests correctly. Hence, more precise subject-specific ligament parameters have to be identified in the future through model optimization.

In order to pre-clinically evaluate the performance and efficacy of novel osteochondral interventions, physiological and clinically relevant whole joint simulation models, capable of reproducing the complex loading and motions experienced in the natural knee environment are required. The aim of this study was to develop a method for the assessment of tribological performance of osteochondral grafts within an in vitro whole natural joint simulation model. The study assessed the effects of osteochondral allograft implantation (existing surgical intervention for the repair of osteochondral defects) on the wear, deformation and damage of the opposing articular surfaces. Tribological performance of osteochondral grafts was compared to the natural joint (negative control), an injury model (focal cartilage defects) and stainless steel pins (positive controls). A recently developed method using an optical profiler (Alicona Infinite Focus G5, Alicona Imaging GmbH, Austria) was used to quantify and characterise the wear, deformation and damage occurring on the opposing articular surfaces. Allografts inserted flush with the cartilage surface had the lowest levels of wear, deformation and damage following the 2 h test; increased levels of wear, deformation and damage were observed when allografts and stainless steel pins were inserted proud of the articular surface. The method developed will be applied in future studies to assess the tribological performance of novel early stage osteochondral interventions prior to in vivo studies, investigate variation in surgical precision and aid in the development of stratified interventions for the patient population.

Progress in the design of total hip prostheses has enhanced the long-term results of total hip arthroplasty. However, recent clinical failures have raised concerns regarding the long-term performance of taper connections. Issues at the taper connection of the femoral head can lead to implant failure and revision surgery. There is scarcity of published studies on the wear performance of contemporary femoral head taper connections in carefully controlled laboratory tests. This work aims to help remedy this shortcoming. The study comprised dynamic load frame tests and multidirectional hip joint simulator tests for two contemporary prosthesis designs with titanium alloy femoral stems and CoCr and zirconia toughened alumina (ZTA) femoral heads of 36 mm diameter and medium neck length against vitamin E stabilized, highly cross-linked polyethylene liners (n = 3). Worn surfaces were analyzed by optical and scanning electron microscopy (SEM). Wear was more prominent in the inferior and distal parts of the CoCr head tapers, and these regions aligned with those of the trunnions that showed most wear. Wear marks on CoCr heads were relatively mild, indicative of fretting due to micromotion. Material displacement occurred locally without dislodged debris. ZTA heads mainly showed titanium transfer by adhesive wear. ZTA femoral heads outperformed CoCr heads regarding wear resistance and surface stability. The 12/14 tapers showed more pronounced wear and surface modifications compared with Type 1 tapers. EDX analysis confirmed the absence of adhesion between CoCr and Ti alloy, and increased oxygen percentage on worn regions. The wear marks were mild. No serious damage was observed. The wear behavior of the taper connections appeared satisfactory, and not a cause for concern in the short term.

In biomechanical research, advanced joint simulators such as VIVO[sup.TM] offer the ability to test artificial joints under realistic kinematics and load conditions. Furthermore, it promises to simplify testing with advanced control approaches and the ability to include virtual ligaments. However, the overall functionality concerning specific test setup conditions, such as the joint lubrication or control algorithm, has not been investigated in-depth so far. Therefore, the aim of this study was to analyse the basic functionality of the VIVO[sup.TM] joint simulator with six degrees of freedom in order to highlight its capabilities and limitations when testing a total knee endoprostheses using a passive flexion–extension movement. For this, different test setup conditions were investigated, e.g., the control method, repeatability and kinematic reproducibility, waveform frequency, lubrication, and implant embedding. The features offered by the VIVO[sup.TM] joint simulator are useful for testing joint endoprostheses under realistic loading scenarios. It was found that the results were highly influenced by the varying test setup conditions, although the same mechanical load case was analysed. This study highlights the difficulties encountered when using six degrees of freedom joint simulators, contributes to their understanding, and supports users of advanced joint simulators through functional and tribological analysis of joint endoprostheses.

In biomechanical research, advanced joint simulators such as VIVOTM offer the ability to test artificial joints under realistic kinematics and load conditions. Furthermore, it promises to simplify testing with advanced control approaches and the ability to include virtual ligaments. However, the overall functionality concerning specific test setup conditions, such as the joint lubrication or control algorithm, has not been investigated in-depth so far. Therefore, the aim of this study was to analyse the basic functionality of the VIVOTM joint simulator with six degrees of freedom in order to highlight its capabilities and limitations when testing a total knee endoprostheses using a passive flexion–extension movement. For this, different test setup conditions were investigated, e.g., the control method, repeatability and kinematic reproducibility, waveform frequency, lubrication, and implant embedding. The features offered by the VIVOTM joint simulator are useful for testing joint endoprostheses under realistic loading scenarios. It was found that the results were highly influenced by the varying test setup conditions, although the same mechanical load case was analysed. This study highlights the difficulties encountered when using six degrees of freedom joint simulators, contributes to their understanding, and supports users of advanced joint simulators through functional and tribological analysis of joint endoprostheses.

The AMTI VIVO™ six degree of freedom joint simulator allows reproducible preclinical testing of joint endoprostheses under specific kinematic and loading conditions. When testing total knee endoprosthesis, the articulating femoral and tibial components are each mounted on an actuator with two and four degrees of freedom, respectively. To approximate realistic physiological conditions with respect to soft tissues, the joint simulator features an integrated virtual ligament model that calculates the restoring forces of the ligament apparatus to be applied by the actuators. During joint motion, the locations of the ligament insertion points are calculated depending on both actuators’ coordinates. In the present study, we demonstrate that unintended elastic deformations of the actuators due to the specifically high contact forces in the artificial knee joint have a considerable impact on the calculated ligament forces. This study aims to investigate the effect of this structural compliance on experimental results. While the built-in algorithm for calculating the ligament forces cannot be altered by the user, a reduction of the ligament force deviations due to the elastic deformations could be achieved by preloading the articulating implant components in the reference configuration. As a proof of concept, a knee flexion motion with varying ligament conditions was simulated on the VIVO simulator and compared to data derived from a musculoskeletal multibody model of a total knee endoprosthesis.

The mechanism and boundary conditions used to drive experimental joint simulators have historically adopted standardized profiles developed from healthy, non-total knee arthroplasty (TKA) patients. The purpose of this study was to use implant-specific in vivo knee kinematics to generate physiologically relevant boundary conditions used in the evaluation of cadaveric knees post-TKA. Implant-specific boundary conditions were generated by combining in vivo fluoroscopic kinematics, musculoskeletal modeling-generated quadriceps loading, and telemetric knee compressive loading during activities of daily living (ADL) to dynamically drive a servo-hydraulic knee joint simulator. Ten cadaveric knees were implanted with the same TKA components and mounted in the knee simulator to verify the resulting load profiles against reported fluoroscopic kinematics and loading captured by an ultra-congruent telemetric knee implant. The cadaveric simulations resulted in implant-specific boundary conditions, which accurately recreate the in vivo performance of the like-implanted knee, with Root Mean Square Error (RMSE) in femoral low point kinematics below 2.0 mm across multiple activities of daily living. This study demonstrates the viability of in vivo fluoroscopy as the source of relevant boundary conditions for a novel knee loading apparatus, enabling dynamic cadaveric knee loading that aligns with clinical observations to improve the preclinical development of TKA component design.