An Inverse Kinematics Model For Post-operative Knee

  • Elvis C. S. Chen
  • Randy E. Ellis
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4190)


A motion-based Inverse Kinematics Knee (IKK) model was developed for Total Knee Replacement (TKR) joints. By tracking a sequence of passive knee motion, the IKK model estimated ligament properties such as insertion locations. The formulation of the IKK model embedded a Forward Kinematics Knee (FKK) [1] model in a numerical optimization algorithm known as the Unscented Kalman Filter [2]. Simulation results performed on a semi-constrained TKR design suggested that ligament insertions could be accurately estimated in the medial-lateral (ML) and the proximal-distal (PD) directions, but less reliably in the anterior-posterior (AP) direction for the tibial component. However, the forward kinematics produced by both the true and estimated ligament properties were nearly identical, suggesting that the IKK model recovered a kinematically equivalent set of ligament properties. These results imply that it may not be necessary to use a patient-specific CT or MRI scan to locate ligaments, which considerably widens potential applications of kinematic-based total knee replacement.


Total Knee Replacement Tibial Component Unscented Kalman Filter Kinematics Knee Knee Motion 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Elvis C. S. Chen
    • 1
  • Randy E. Ellis
    • 1
    • 2
  1. 1.School of ComputingQueen’s UniversityCanada
  2. 2.Brigham and Women’s HospitalHarvardU.S.A.

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