Biomechanics-Inter-segmental Forces and Joint Stability, Notes

Outline Introduction Intersegmental forces Stability
Intersegmental forces and joint stability

The College of New Jersey
BME343 Biomechanics
Introduction Intersegmental forces External forces Internal forces Stability Contact Ligaments stretch Muscle co-contraction
Motion
Motion of the musculoskeletal systam is the result of a balance between External & Internal forces and moments Analysis of force and associated motion Dynamics
Forces
External forces Ground reaction force Gravitational force Interial forces Internal forces Hold the components together (Shank and thigh)
Inertia
Inertial resistance to linear acceleration (f(mass)) Resistance to angular acceleration or Mass Moment of Inertia(f(geometry and mass distribution))
Newtons Second Law
Newtons Second Law If the resultant force acting on a body is not zero, the body will have an acceleration proportional to the magnitude of the resultant and in the direction of this resultant force.
External forces Internal forces
Objective
Calculate external intersegmental forces and moments at dierent joints during human locomotion
Approach
Measure the foot-ground-reaction forces using a force plate Measure limb motion using optoelectronic or optomagnetic methods Approximate weight and inertial forces by modeling leg as a collection of rigid segments (for thigh, shank, and foot) Establish a model - a lumped mass model Draw FBD for each of the segments
Assumptions
Lumped mass model: Inertial properties lumped at its center of mass. Each segment assumed to be symmetric about its principal axes. Angular velocity and acceleration about the longitudinal axis of the segment are negligible. Limb segments are rigid bodies: The structure does not deform under load Ignore deformation at the contact
Forces and Moments acting on a segment
Intersegmental forces and moments (at the joint centers) Inertial forces and moments (acting at the center of mass of the segment)
Procedure
Start at the foot, and then proceed to ankle, knee, and determine the forces at the hip. Write segmental equilibrium equations at the mass center using Newtons Second Law. Determine unknowns
External loads acting on leg
Figure: External loads acting on leg: Foot, shank, and thigh: Three rigid-body segments
Intersegmental forces and moments
Figure: Intersegmental forces and moments: Calculate from distal to proximal end (from ankle inter-segmental forces and moments to hip forces and moments)
The College of New Jersey Intersegmental forces and joint stability
Calculation Details
Vector equations of equilibrium for the foot F = mf af M = If f Here, f subscript is used for the foot. If = Moment of Inertia af = Linear acceleration of the mass center f = Angular accelertion mf = mass Moments are taken about the center of mass of the rigid body (1) (2)
Find intersegmental force and moment at ankle: Fa & Ma

Force equilibrium equation Fa + Fg + mf g = mf af Or, F a = m f af F g m f g Moment equilibrium equation Ma + Tg + (rcm,p x Fa ) + (rcm,d x Fg ) = If f Or, Ma = Tg (rcm,p x Fa ) (rcm,d x Fg ) + If f
(3)
(4)
Find intersegmental force and moment at knee: Fk & Mk

Force equilibrium equation F k + F a + m s g = m s as Or, Fk = ms as Fa ms g * Use the value of Fa from Equation 3. Moment equilibrium equation Mk + Ma + (rcm,p x Fk ) + (rcm,d x Fa ) = Is s Or, Mk = Ma (rcm,p x Fk ) (rcm,d x Fa ) + Is s
(5)
(6)
Find intersegmental force and moment at hip: Fh & Mh

Force equilibrium equation Fh + Fk + mt g = mt at Or, Fh = mt at Fk mt g Moment equilibrium equation Mh + Mk + (rcm,p x Fh ) + (rcm,d x Fk ) = It t Or, Mh = Mk (rcm,p x Fh ) (rcm,d x Fk ) + It t
(7)
(8)
Body segment lengths (David Winter)
Figure: Body segment lengths expressed as a fraction of body weight

Anthropometric Data
Adapted from Biomechanics and Motor Control of Human Movement, David Winter, Fourth Ed.
Example
Application of kinetics in gait analysis to estimate external forces and moments Consider forces in sagittal plane only (2-D problem) Mass of the foot is negligible in comparison to the mass of the shank Vertical component of the force has superscript v , and horizontal component has superscript h
Known
Ground reaction force

Fg v = 700 N Fg h = 150 N
Figure: Intersegmental forces and moments

Find
Force and Moment at ankle
Horizontal, Fa h = Vertical, Fa v = Moment at ankle (Ma ) =
Force and Moment at shank distal end

Horizontal, Fd h = Vertical, Fd v = Moment, Md =
Force and Moment at shank proximal end

Horizontal, Fp h = Vertical, Fp v = Moment, Mp = Figure: Intersegmental forces and moments
Known
Lever arms Floor to ankle
Horizontal h1 = 0.13 m Vertical v1 = 0.10 m
Ankle to the center of mass of the shank

Knee center to the center of mass of the shank

Shank weight (mg) = 28N Inertial forces

Shank mass x horizontal acceleration, mah = 0.7 N Shank mass x vertical acceleration mav = 3.3 N Shank mass x angular acceleration I = 0.06 Nm
Answers
Force and Moment at ankle

Horizontal, Fa h = 150 N Vertical, Fa v = 700 N Moment at ankle (Ma ) = 106 Nm
Force and Moment at shank distal end

Horizontal, Fd h = 150 N Vertical, Fd v = 700 N Moment, Md = 106 Nm
Force and Moment at shank proximal end

Horizontal, Fp h = 149.3 N Vertical, Fp v = 668.7 N Moment, Mp = 45.7 Nm
Equilibrium between Internal and External Forces
A balance between Intersegmental and internal forces such that no change in the state of rest or motion Intersegmental forces: Known now!
Internal Forces
Muscle contraction Passive soft tissue stretch Articular reaction forces
Forces and Moments at knee joint
Fpv , Fph = Intersegmental forces Mp = Intersegmental moment Fch , Fcv = Femoral contact forces Fqv , Fqh = Quadriceps muscle force Ignore Fqh
Mp , External Moment: Flexion Assume, hamstring muscles (antagonist muscle)- Inactive Moment generated by the quadriceps muscle = Moment generated by Mp Unknowns: Tibio-femoral contact force, Quadriceps muscle force Statically determinate problem Three unknowns, three equations
Forces and Moments at knee joint
Assume: The contact point between tibia and femur is at the center of the tibial plateau
M = 0 Fqv d - Mp = 0 Fqv Fh = 0 Fch Fph = 0 Fch Fv = 0 Fcv Fpv + Fqv = 0 Fcv
Numerical Solution
Knowns: Fpv = 697 N, Fph = 149 N, Mp = 45.7 Nm, d = 0.04 m Solution: Plug the values in the equations to get: Fqv = 1142 N, Fch = 149 N, and Fcv = 445.5 N Joint Reaction Forces vs. Contact Forces (include forces generated by muscle contraction on bone)!!
External moment balanced by the internal moment generated by muscles Typical for all joints Muscles provide the largest portion of the internal joint moment. Large contact forces from muscle contraction
Contact Ligaments stretch
Muscle co-contraction
Joints in Motion
So far: Forces and moments at joints Normal function Etiology of various joint diseases? Critical: Understanding relationship between load on a joint and its motion
Joint load and Motion
Critical in the design of TJR

Reproduce normal relationship between load and motion Critical role in implant loosening and damage in articulating surfaces Specic muscle forces for a specic kinematic task
Joint load and Motion
If the kinematics change (damaged meniscus), resulting motion erratic Unexpected loads for a given kinematic (disrupted ligaments, tendons) pain, and impaired function
What is a stable joint?
Stable Joint Ability of a joint to maintain an appropriate functional position throughout its range of motion
Characteristics of stable synovial joints
Joint contact between surfaces covered with articular cartilage No peripheral/ edge loading Unique position of equilibrium for any loading Small changes in mag/ direction no large change in the position of joint contact
Mechanisms for synovial joint stability
Contact at the articular surfaces Stretching of ligaments Muscle co-contraction
Contact at the articular surfaces
Primary mechanism of stability Passive mechanism, based on contact Hip/ shoulder joints- geometric constraints at articulating surfaces
Contact at the articular surfaces
Frictionless articulation Contact forces perpendicular to articulating surfaces (Surface normal vector and contact force are aligned) Variable curvature of the articulating surface allows joint contact forces of dierent orientations throughout a kinematic task Learning to walk: Trial and error process Body determines a unique set of muscle force magnitudes to produce a stable joint for that activity
Joint contact forces
Figure: Range of possible orientations of the joint contact force depends on the orientation of the articulating surface; Low friction, hence joint contact force is perpendicular to the joint surface
Adapted from Orthopaedic Biomechanics, Bartel, Davy, and Keaveny, Pearson 2006
Joint Loading
Magnitude of the resulting joint contact and muscle forces = f (Location of the contact force)
Joint Loading
Ground reaction force and quadriceps muscle orientation = constant What would be the impact of moving the point of loading w.r.t. knee joint loading
Joint Loading
Active forces: Ground reaction force Muscle force Joint reaction force
Knee Joint
Discussion
Muscle force and the location of the joint force location Tissues programmed over the years Substantial change in muscle force Diculty in performing tasks
Discussion
Large contact forces high wear rate of the implant Lesson for articial implant design - reproduce the natural kinematics
Knee Joint
Figure: Frontal view of the knee joint, showing opening on the lateral aspect due to application of a medially directed force distally
Adapted from Fundamentals of Orthopaedic Biomechanics, Burstein and Wright
Stretching of ligaments
Limits the range of the joint contact to lie within the articular cartilage surfaces Produce restoring force by stretching In habitual activities, no forces Rolling, sliding of joints within its slack region Non-linear force displacement behavior
Ligaments and Joint stability
Critical balance for habitual loads Can be upset by trauma, disease, joint replacement Aect stability of the joint Damaged ligaments Large non-habitual forces support
Uneven distribution of forces between condyles Joints open in one side Stretching limits the range of the joint contact within the articular cartilage surfaces Produce restoring forces Resultant moment
Contact mechanism of Bi-condylar joints
Medially directed forces
Gait produces higher loads on medial condyle (medially directed)

Medially directed loads
Stability in frontal plane

Medially directed forces Gait cycle Side-step/ change direction quickly Varus-valgus moment about the knee joint
Stability provided by Contact forces + ligament stretch Medial distal force moves the tibia medially w.r.t. the femur at the knee joint
Large contact force on the medial condyle Force on lateral condyle = 0 Primary stability mechanism- Contact More problems with medial condyle- as gait produces higher loads on it (medially directed)
Increases stability
Increase in compression increase in joint contact force keeps articulating joints in contact
Critical for stability in frontal plane 20 mS!!!: Time (delay) a muscle takes to generate any force, after neurons send the signal !!! Where do you see the impact?
Summary: Stability mechanisms
Primary stability mechanism: Contact Secondary stability mechanisms : Muscle co-contraction & Ligament Stretch Muscle co-contraction
Quadriceps forces, Hamstrings Increases net compressive force across the joint and closes the gap Works with primary stabilization mechanism Does not impact sagittal stability
Critical for stability in frontal plane Due to 20 mS lag of muscle force activation, ligaments provide secondary support, and resist varus bending moment
Practice problem
If a lateral to medial load is applied to the foot, a counteracting moment is produced at the knee joint in a lateral-medial plane, which stretches the lateral collateral ligament and the SL =3 cruciate ligaments. S C Estimate the moment produced by cruciate ligaments to that produced by the lateral collateral ligament. Use the force deection characteristics in your argument (F=Kx). Hint: For small change in length (stretch) tan = L

Biomechanics-Inter-segmental Forces and Joint Stability, Notes

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Outline Introduction Intersegmental forces Stability

Intersegmental forces and joint stability

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

Newtons Second Law

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

External forces Internal forces

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

External forces Internal forces

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

External forces Internal forces

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

External forces Internal forces

Forces and Moments acting on a segment

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

External forces Internal forces

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

External forces Internal forces

External loads acting on leg

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

External forces Internal forces

Intersegmental forces and moments

Outline Introduction Intersegmental forces Stability

External forces Internal forces

The College of New Jersey

Intersegmental forces and joint stability

Outline Introduction Intersegmental forces Stability

External forces Internal forces

Find intersegmental force and moment at ankle: Fa & Ma

Outline Introduction Intersegmental forces Stability

External forces Internal forces

Find intersegmental force and moment at knee: Fk & Mk

Outline Introduction Intersegmental forces Stability

External forces Internal forces

Find intersegmental force and moment at hip: Fh & Mh