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Toggenburger Foundation"},{"DOI":"10.13039\/100008375","name":"University of Basel","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100008375","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Ann Biomed Eng"],"published-print":{"date-parts":[[2026,2]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Purpose<\/jats:title>\n                    <jats:p>Surgical decision-making for Adolescent Idiopathic Scoliosis (AIS) relies on geometrical rather than biomechanical properties, such as the spine\u2019s in vivo load characteristics. While both in vivo and in vitro spinal loading experiments can provide valuable insights, a standardized method to compare motion for the Functional Spinal Unit (FSU) is lacking. This work aims to establish a systematic motion parametrization to unambiguously characterize FSU pose changes suitable for a robotic in vivo spinal loading application.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Method<\/jats:title>\n                    <jats:p>In this work, we propose an FSU motion parameterization using robotic rigid-body-tree modelling, deploying a virtual six-degree-of-freedom joint in the intervertebral space. To demonstrate the importance of the parameterization, we analysed\u00a0the effect of different\u00a0joint definitions on the produced displacement considering\u00a0i) preoperative or intraoperative FSU reference poses, obtained from CT imaging of an AIS patient, and ii) one or both vertebral coordinate systems of the FSU.\u00a0Additionally, we compared the required wrench capabilities of an actuation device to achieve pure spinal loading conditions in a pedicle screw-mounted scenario.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>\n                      Applying identical virtual motions\u00a0resulted in differences of up to 0.38 mm in\u00a0translation and\n                      <jats:inline-formula>\n                        <jats:alternatives>\n                          <jats:tex-math>$$24.19^{\\circ }$$<\/jats:tex-math>\n                          <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                            <mml:mrow>\n                              <mml:mn>24<\/mml:mn>\n                              <mml:mo>.<\/mml:mo>\n                              <mml:msup>\n                                <mml:mn>19<\/mml:mn>\n                                <mml:mo>\u2218<\/mml:mo>\n                              <\/mml:msup>\n                            <\/mml:mrow>\n                          <\/mml:math>\n                        <\/jats:alternatives>\n                      <\/jats:inline-formula>\n                      in\u00a0rotation, depending on the\u00a0joint definition. Corresponding\u00a0required wrench capabilities showed maximum force and torque errors of up to 34.97\n                      <jats:inline-formula>\n                        <jats:alternatives>\n                          <jats:tex-math>$$\\%$$<\/jats:tex-math>\n                          <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                            <mml:mo>%<\/mml:mo>\n                          <\/mml:math>\n                        <\/jats:alternatives>\n                      <\/jats:inline-formula>\n                      in virtual\u00a0pure translation and bending experiments.\n                    <\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusion<\/jats:title>\n                    <jats:p>Our findings underline the importance of a robust FSU kinematic framework, critical for ensuring safe and reliable FSU manipulation and for obtaining comparable and\u00a0reproducible\u00a0in vivo biomechanical\u00a0data.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1007\/s10439-025-03885-x","type":"journal-article","created":{"date-parts":[[2025,11,20]],"date-time":"2025-11-20T14:51:57Z","timestamp":1763650317000},"page":"580-595","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Importance of a Systematic Intervertebral Motion Parametrization for in vivo Assessment of Spine Biomechanics"],"prefix":"10.1007","volume":"54","author":[{"given":"Felix Andr\u00e9","family":"Erb","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniel","family":"Studer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Philippe","family":"B\u00fcchler","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Carol-Claudius","family":"Hasler","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Georg","family":"Rauter","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nicolas","family":"Gerig","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,11,20]]},"reference":[{"issue":"8","key":"3885_CR1","doi-asserted-by":"publisher","first-page":"1169","DOI":"10.2106\/00004623-200108000-00006","volume":"83","author":"LG Lenke","year":"2001","unstructured":"Lenke, L. 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