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Background: Ankle passive kinematics is determined primarily by articular surface morphology and ligament constraints. Previous morphological studies concluded that the talar dome can be approximated by a truncated cone, whose apex is directed medially and whose major axis is the axis of rotation of the ankle. This and other functional morphology concepts were evaluated in this study whose goal was to describe and quantify the 3D morphology of the talus using 3D image-based bone models and engineering software tools., Methods: CT data from 26 healthy adults were processed to produce 3D renderings of the talus and were followed by morphological measurements including the radii of curvature of circles fitted to the medial and lateral borders of the trochlea and radii of curvature of coronal sections., Findings: The surfaces containing the medial and lateral borders of the trochlea are not parallel and the radius of curvature of the medial border is larger than the lateral border. In the coronal plane the trochlear surface was mostly concave., Interpretation: The trochlear surface can be modeled as a skewed truncated conic saddle shape with its apex oriented laterally rather than medially as postulated by Inman. Such shape is compatible, as opposed to Inman's cone postulate, with the observed pronation/supination and provides stable congruency in movements of inversion/eversion. The results challenge the fundamental theories of functional morphology of the ankle and suggest that these new findings should be considered in future biomechanical research and in clinical applications such as design of total ankle replacements., (© 2013. Published by Elsevier Ltd. All rights reserved.)

Knowledge on how ligaments and articular surfaces guide passive motion at the human ankle joint complex is fundamental for the design of relevant surgical treatments. The paper presents a possible improvement of this knowledge by a new kinematic model of the tibiotalar articulation. Passive motion, i.e. in virtually unloaded conditions, was captured in vitro in four lower leg specimens by means of a surgical navigation system with cluster of active markers attached to the tibia and talus. The anatomical geometry of the passive structures, i.e. articular surfaces and attachment areas of the ligaments, were taken by digitisation with a pointer. An equivalent spatial mechanism for the passive motion simulation was defined by three sphere-to-sphere contact points and two rigid links. These contact points were identified at the lateral talo-fibular articulation and at the medial and lateral aspects of the articulation between tibial mortise and trochlea tali. The two rigid links were identified by the isometric fibres at the calcaneofibular and tibiocalcaneal ligaments. An optimisation algorithm was developed for the identification of the final geometrical parameters resulting from an iterative refining process, which targets best matching between model predictions and corresponding experimental measurements of the spatial motion. The specimen-specific equivalent spatial mechanisms replicated the original passive motion very well, with mean discrepancies in position smaller than 2.5 mm and in rotation smaller than 1 degrees . The study demonstrates that the articular surfaces and the ligaments, acting together as a mechanism, control the passive kinematics of the ankle joint.

Background: The tibio-talar contact area has been widely investigated to monitor biomechanical changes due to articular incongruities or an altered loading. This study aims to investigate for the first time in a systematic way the extent of the inter-specimen variability of the tibio-talar contact area, and its repercussions when analyzing data concerning this parameter., Methods: Ten specimens were loaded to record the tibio-talar contact characteristics by use of pressure sensitive film. The size of the talar dome area, the size of the (normalized) tibio-talar contact area, the position of the tibio-talar contact area, and the shape of the latter were determined and analyzed. Inter-specimen variability was expressed as the coefficient of variation and was calculated for the datasets of previous studies as well., Findings: The size of the tibio-talar contact area showed a very high inter-specimen variability, as is the case in previous studies. This high variability persisted when a normalized tibio-talar contact area was calculated. The shape of the tibio-talar contact area showed some basic characteristics, but a high variation in details could be observed., Interpretation: Every specimen can be considered to have its own "ankle print". By this variability, articular incongruities are expected to have a different effect on local biomechanical characteristics in every single individual. Therefore, every single case has to be evaluated and reported for significant changes. In case of modeling, this also underscores the need to use subject specific models fed by sets of parameters derived from a series of single specimens.

Background: Conventional motion analysis studies define the ankle joint center as the midpoint between the most medial and lateral aspects of the malleoli, yet research points toward a more distal joint center location. The purpose of this study was to develop and evaluate an anatomically based correction that would move the conventional ankle joint center to a more accurate location., Methods: Lower extremity radiographs from 30 pediatric patients were analyzed retrospectively. An offset between the conventional and more accurate ankle joint centers was measured and correlated to other common anatomical measures based on conventional skin mounted marker positions. The best correlated measure was used to define a simple correction factor, which was subsequently evaluated by its effect on six degree-of-freedom ankle joint translations during normal gait (n=8)., Findings: Shank length was found to have the highest bivariate linear correlation (r=0.89) with the offset. Adjusting the ankle joint center using a percentage of shank length (2.7%) was also as accurate as the regression equation in predicting offset (mean error 0.6mm, or 6% offset). Adjusting the ankle joint center using this simple percentage resulted in a 25% reduction in mean ankle joint translations during normal gait., Interpretation: The accuracy of the ankle joint center can be increased through a simple, anatomically based correction. This correction may prove beneficial in some kinematic and kinetic applications requiring increased anatomical fidelity.

The objective of this study is to validate previous descriptions of hindfoot kinematics using dual Euler angle methods in a passive cadaveric model. The dual Euler angle method was chosen so as to facilitate description of the translational and rotational movement occurring at both the ankle and subtalar joints. A non-metal experimental set-up was fabricated to generate motion in foot cadaver specimens. Three-dimensional kinematic data of the ankle joint complex was collected from ten knee-below foot cadaver specimens using a 'Flock of Birds' electromagnetic tracking device. The data correlates well with previously published kinematic descriptions of the ankle subtalar joint complex. Both the ankle and subtalar joint show 6 degree of freedom motion and multiaxial characteristics. The motions of the talocrural joint, the talocalcaneal joint, and the gross motion between the foot and the shank were analyzed. During dorsiflexion-plantarflexion the motion of the calcaneus with respect to the tibia occurs mainly at the ankle joint, with little motion at the subtalar joint. The subtalar joint contributes more than the ankle joint during inversion-eversion.

A two-dimensional four-bar linkage model of the ankle joint is formulated to describe dorsi/plantarflexion in unloaded conditions as observed in passive tests on ankle complex specimens. The experiments demonstrated that the human ankle joint complex behaves as a single-degree-of-freedom system during passive motion, with a moving axis of rotation. The bulk of the movement occurred at the level of the ankle. Fibres within the calcaneofibular and tibiocalcaneal ligaments remained approximately isometric. The experiments showed that passive kinematics of the ankle complex is governed only by the articular surfaces and the ligaments. It was deduced that the ankle is a single-degree-of-freedom mechanism where mobility is allowed by the sliding of the articular surfaces upon each other and the isometric rotation of two ligaments about their origins and insertions, without tissue deformation. The linkage model is formed by the tibia/fibula and talus/calcaneus bone segments and by the calcaneofibular and tibiocalcaneal ligament segments. The model predicts the path of calcaneus motion, ligament orientations, instantaneous axis of rotation, and conjugate talus surface profile as observed in the experiments. Many features of ankle kinematics such as rolling and multiaxial rotation are elucidated. The geometrical model is a necessary preliminary step to the study of ankle joint stability in response to applied loads and can be used to predict the effects of changes to the original geometry of the intact joint. Careful reconstruction of the original geometry of the ligaments is necessary after injury or during total ankle replacement.

The objective of this study was to identify structural and functional factors which are predictors of peak pressure underneath the human foot during walking. Peak plantar pressure during walking and eight data sets of structural and functional measures were collected on 55 asymptomatic subjects between 20 and 70 yr. A best subset regression approach was used to establish models which predicted peak regional pressure under the foot. Potential predictor variables were chosen from physical characteristics, anthropometric data, passive range of motion (PROM), measurements from standardized weight bearing foot radiographs, mechanical properties of the plantar soft tissue, stride parameters, foot motion in 3D, and EMG during walking. Peak pressure values under the rearfoot, midfoot, MTH1, and hallux were measured. Heel pressure was a function of linear kinematics, longitudinal arch structure, thickness of plantar soft tissue, and age. Midfoot pressure prediction was dominated by arch structure, while MTH1 pressure was a function of radiographic measurements, talo-crural joint motion, and gastrocnemius activity. Hallux pressure was a function of structural measures and MTP1 joint motion. Foot structure and function predicted only approximately 50% of the variance in peak pressure, although the relative contributions in different anatomical regions varied dramatically. Structure was dominant in predicting peak pressure under the midfoot and MTH1, while both structure and function were important at the heel and hallux. The predictive models developed in this study give insight into potential etiological factors associated with elevated plantar pressure. They also provide direction for future studies designed to reduce elevated pressure in "at-risk" patients.

The purpose of this work is to characterize the three-dimensional (3D) morphology of the bones of the rear foot using MR image data. It has two sub-aims: (i) to study the variability of the various computed architectural measures caused by the subjectivity and variations in the various processing operations; (ii) to study the morphology of the bones included in the peritalar complex. Each image data set utilized in this study consists of sixty sagittal slices of the foot acquired on a 1.5 T commercial GE MR system. The description of the rear foot morphology is based mainly on the principal axes, which represent the inertia axes of the bones, and on the bone surfaces. We use the live-wire method [Falcao AX, Udupa JK, Samarasekera S, Shoba S, Hirsch BE, Lotufo RA. User-steered image segmentation paradigms: live wire and live lane. Proceedings of the Society of Photo-optical Instrumentation Engineers 1996;2710:278-288] for segmenting and forming the surfaces of the bones. In the first part of this work, we focus on the analysis of the dependence of the principal axes system on segmentation and on scan orientation. In the second part, we describe the normal morphology of the rear foot considering the four bones namely calcaneus, cuboid, navicular, and talus, and compare this to a population from the upper Pleistocene. We conclude that this non-invasive method offers a unique tool to characterize the bone morphology in live patients towards the goal of understanding the architecture and kinematics of normal and pathological joints in vivo.

This study investigates the feasibility of a subject-specific three-dimensional model of the ankle joint complex for kinematic and dynamic analysis of movement. The ankle joint complex was modelled as a three-segment system, connected by two ideal hinge joints: the talocrural and the subtalar joint. A mathematical formulation was developed to express the three-dimensional translation and rotation between the foot and shank segments as a function of the two joint angles, and 12 model parameters describing the locations of the joint axes. An optimization method was used to fit the model parameters to three-dimensional kinematic data of foot and shank markers, obtained during test movements throughout the entire physiological range of motion of the ankle joint. The movement of the talus segment, which cannot be measured non-invasively, is not necessary for the analysis. This optimization method was used to determine the position and orientation of the joint axes in 14 normal subjects. After optimization, the discrepancy between the best fitting model and actual marker kinematics was between 1 and 3 mm for all subjects. The predicted inclination of the subtalar joint axis from the horizontal plane was 37.4 +/- 2.7 degrees, and the medial deviation was 18.0 +/- 16.2 degrees. The lateral side of the talucrural axis was directed slightly posteriorly (6.8 +/- 8.1 degrees), and inclined downward by 7.0 +/- 5.4 degrees. These results are similar to previously reported typical results from anatomical, in vitro studies. Reproducibility was evaluated by repeated testing of one subject, which resulted in variations of about one-fifth of the standard deviation within the group, the inclination of the subtalar joint axis was significantly correlated to the arch height and a radiographic 'tarsal index'. It is concluded that this optimization method provides the opportunity to incorporate inter-individual anatomical differences into kinematic and dynamic analysis of the ankle joint complex. This allows a more functional interpretation of kinematic data, and more realistic estimates of internal forces.