Marker-based Motion Analysis
 








Projects that funded the research work:

Total cost 99.099 ECU, co-ordinator: Dr.Furnée, partner: Dr.Jobbágy. This has enabled the setting up of a local motion analysis centre. In connection with it several applications have been initiated. Total cost 5.400.000.- HUF, co-ordinator: Dr. Jobbágy. Total cost 1.500.000.- HUF, co-ordinator: Dr.Jobbágy. Total cost 40.500.- NLG 450.000.- HUF, Dutch co-ordinator: Dr.Furnée, Hungarian co-ordinator: Dr. Jobbágy. Participants: Ákos JOBBÁGY, Hans FURNÉE, László GYÖNGY, Ferenc MARTIN, László KOMJÁTHI, Zoltán RÓZSA, József BODNÁR, Balázs ROMHÁNYI, Ferenc PÁVAY, Júlia THOMAS, Fábián FOGARASI. Applications:
Movement Analysis of Parkinsonians

co-operating neurologists Péter HARCOS*1, Miklós TÁRCZY*2, Annamária TAKÁCS*3.

*1: Szt. Imre Hospital, Budapest

*2: Semmelweis Univeristy of Medicine, Budapest, ceased in 1998.

*3: Semmelweis Univeristy of Budapest
 
 

 As the expected life time of the population increases, the percentage affected by Parkinson’s disease also increases. Presently patients usually visit the clinician well after the onset of the disease, in some cases years may pass between the first signs of PD and the diagnosis. Early diagnosis of neurological diseases allow intervention with neuroprotective treatments in the pre-clinical phase; thus the quality of life of a patient can be maintained for as long as possible. Parkinson’s disease (PD) develops and progresses in various ways, in every patient the symptoms are unique. Thus the correct treatment and medication requires constant feedback from the patient’s state. This necessitates an objective rating scale with high resolution. The presently-used methods (Hoehn-Yahr, UPDRS, etc.) of diagnosing patients’ state were defined to fit human observation, the resolution of these methods is low.

The common problems influencing the motor system of PD patients are: tremor at rest, rigidity, hypokinesia and postural instability. The manifestation of these impairments is very weak, hardly noticeable visually in the early phase.

For a more effective treatment clinicians require a standardised objective staging of PD patients. Our investigations aim at finding the appropriate measurement methods to fulfil the needs of neurologists/clinicians.

The persons we tested were asked to perform the movement patterns below as fast as they could:

Tapping: Patients put their hands on the table, 10 mm diameter markers are attached to the middle phalanges of their fingers. Patients lift 8 of their fingers (thumbs remain on the table) and then hit the table with their fingertips in the following order: little-, ring-, middle- and index finger. This mimics the piano-playing movement.
 
 


The tapping movement







Twiddling: Patients twiddle their hands in front of their trunks. Forearms are nearly horizontal. Markers with 25 mm diameter are attached to their forearms, approximately 20 cm far from their carpal bones.

The twiddling movement







Pinching and circling: This is performed in 6 phases. The 4 single hand movements are: pinching with the right hand, pinching with the left hand, circling with the right hand, circling with the left hand. The 2 parallel movements are: pinching with the right hand while circling with the left hand and pinching with the left hand while circling with the right hand. Markers with 10 mm diameter are attached to the middle phalanges of the index fingers.

Pinching movement: The forearm is in vertical position, little-, ring- and middle fingers touch the palm. The patient moves his/her index finger: touches the thumb, then lifts the index finger and then touches the thumb again.

Circling movement: The forearm is in horizontal position, the index finger is stretched. The forearm circles around the superficies of an imaginary cone, the elbow is supposed to remain in nearly the same position.

The pinching and circling movement







Tap heel on ground: The person is sitting on a chair, lifts his/her foot above the floor by approximately 10 cm and then hits the floor with the foot again.
 
 

Tap heel on ground.
 


The pinching and circling movement of a Parkinsonian patient. Red line: circling, blue and green lines: pinching.
 
 


The pinching and circling movement of a young healthy subject. Red line: circling, blue and green lines: pinching.



 
 
 
 
 
 

 Parkinsonian patient performing tapping test  patapmpg.mpg



 
 
 
 
 
 
 
 
Movement Analysis of Small Animals
co-operating medical doctor Emil MONOS (Semmelweis University of Medicine, Budapest)

Behavior (movement patterns) of animals has been used for a long time in medical sciences as an indicator of the "system state" i.e. of the influence of a particular treatment upon the animal's condition. Until recently the evaluation of such behavior was done visually, by the experimenter, without any possibility of an objective measurement procedure. The introduction of the passive marker based motion analysis in controlled laboratory conditions led to the reproducible generation of observables that can be quantified and further processed. The selection of an adequate model and the appropriate signal processing constitutes the major problem. Animal behavior should be described in two levels requiring two models. The quantitative (low level) model is used to describe the physical movement. The psychophysical state of an animal can be characterized with the help of the qualitative (high level) model that is to be established with the involvement of medical experts.

Rats in tubelike cages with markers.
The movement of a rat in a tubelike cage.  ratmov.avi
 
 
 

Robot Movement Analysis: Pose Tracking for Robotised Peg-Hole Insertion

co-operating mechanical engineers: András TÓTH, Gusztáv ARZ (Technical University of Budapest)
 
 

 Insertion of a peg into a hole is one of the basic tasks in robot assembly. For the experimental verification a test set-up was necessary to be developed that included a very precise 2D non-contact motion analyser system and a 6DOF Force/Torque measuring system.

The aim of the test set-up was to track the movement of the peg attached to the robot arm through a Remote Centre of Compliance (RCC) device with sub-µm resolution. The high resolution is necessary since dynamic effects like stick-slip motion have to be observed at small peg-hole clearances (< 0.1-0.2 mm). Motion analysers specify resolution and accuracy in percentage of their field of view. The resolution of the PRIMAS analyser is 1:6000 while its accuracy is 1:2000, when average size (containing 10-12 lines) marker images are used. Both resolution and accuracy increases with marker image size. The necesary resolution and accuracy could be reached by using a pattern of markers extending well beyond the field of view of the camera. The motion analyser sees only a few markers at a time thus the marker images can be unusually big, covering several thousands of pixels each. The position of the peg is determined by knowing the distances between the markers in the marker pattern with very high accuracy.
 
 


Peg-hole test-rig, the marker pattern is attached to the peg.

Moving peg and the marker pattern seen by the PRIMAS motion analyser.  robot.avi



 
 
 
 
 
 
 
 

Analysis of Chewing Motion

co-operating dentist: András MALATINSZKY

The aim is to test the chewing motion of persons in order to analyse the appropriateness of prosthesis.

Analysis of the chewing motion.  chewing.avi

 
 
 
 
 
 
 
 
Related publications:

DISSERTATIONS

Centre Estimation in Marker Based Motion Analysis. PhD Theses, 1993. 120 pages. TUB-TR-93-EE04, ISBN 963-421-509-2.
 
 

JOURNAL PAPERS IN ENGLISH

In foreign journals

Jobbágy, Á., E.H. Furnée, P. Harcos, M. Tárczy: Early Detection of Parkinson’s Disease through Automatic Movement Evaluation. IEEE Engineering in Medicine and Biology Magazine, Vol. 17. No. 2. March/April 1998. pp. 81-88.

Monos, E. - L.Gyöngy - Á.Jobbágy: A novel method for motion analysis of animals exposed to gravitational load. Journal of Physiology, London, 1996. Vol. 491P, pp. 75-76.

Á.Jobbágy - E.H.Furnée: Marker Centre Estimation Algorithms In CCD Camera Based Motion Analysis. Medical & Biological Engineering & Computing, Vol. 32. Nr. 1. Jan. 1994. pp. 85-91..

E.H.Furnée - Á.Jobbágy: Precision 3-D Motion Analysis System For Real-time Applications. Invited paper, Microprocessors and Microsystems, Vol.17., Nr.4. May 1993. pp. 223-231.

 In Hungarian journals Á.Jobbágy - L.Gyöngy - F.Martin - Gy.Ábrahám: Processing of Images in Passive Marker Based Motion Analysis. Periodica Polytechnika, Ser. Electrical Engineering, Vol. 41, No. 1. pp. 63-74. 1997.

Á.Jobbágy - E.H.Furnée: New Marker Centre Estimation Algorithms Of High Accuracy In Motion Analysis. Periodica Polytechnika, Ser. Electrical Engineering Vol. 36. NOS. 3-4, pp. 249-258. 1992.
 

 REVIEWED CONFERENCE PAPERS Á. Jobbágy, F. Fogarasi, E.H. Furnée, P. Harcos, B. Romhányi, J. Thomas, G. Soós: Qualification of movement patterns on a continuous scale. Conf. proc. of the First Joint BMES -  IEEE/EMBS Conference, 13-16 October, Atlanta, p.525 (on CD-ROM)

Thomas, Júlia, Soós, Gábor, Jobbágy, Ákos, Furnée, Hans: Two levels of image processing in passive marker-based motion analysers. Conf. proc. of EMBEC99, 4-7 November, Vienna, pp. 848-849

Ákos Jobbágy, E.Hans Furnée, Balázs Romhányi, László Gyöngy, Gábor Soós: Resolution and Accuracy of Passive Marker-based Motion Analysis. 8th International IMEKO TC-13 Conference on Measurement in Clinical Medicine, 16 - 19 September, 1998, Dubrovnik, Croatia, pp. 2.3. - 2.6.

Furnée, E.H., Á. Jobbágy, J. C. Sabel, H.L.J. van Veenendaal, F. Martin, D.C.W.G. Andriessen: Marker-referred movement measurement with grey-scale coordinate extraction for high-resolution real-time 3D at 100 Hz. J.S. Walton (ed.) Proc. of the SPIE Symposium on Image based motion analysis SPIE’s 42nd Annual Meeting, 27 July - 1 August 1997, San Diego, CA USA. SPIE3173857.

Jobbágy, Á., L. Gyöngy and E. Monos: Evaluating Movement Patterns of Rats - The Measurement Theoretical Point of View. Proc. of the IEEE Instrumentation and Measurement Technology Conference, Brussels, Belgium, 1996. June 4-6. pp. 101-105.

Jobbágy, Á., L. Gyöngy, E.H. Furnée: Biomedical Applications of a High-Precision Passive Marker Based Motion Analyser. The 10th Nordic-Baltic Conference on Biomedical Engineering, June 9-13, 1996. Tampere, Finland. Proceedings in: Medical & Biological Engineering & Computing (UK), Vol. 34, Supplement 1, Part 1, pp. 331-332.

Jobbágy, Á., P. Harcos and M. Tárczy: Measurement Environment for Diagnosing the Parkinson’s Disease. 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 31 October - 3 November, Amsterdam, The Netherlands. Paper no. 2.6.3., the proceedings on CD-ROM.

Á.Jobbágy - L.Gyöngy - F.Martin - Gy.Ábrahám: Video Signal Processing with High Resolution in Passive Marker Based Motion Analysis.Proceedings of the XVth Congress of the International Society of Biomechanics, July 1995 Jyväskylä, Finland. pp. 436-437.

Jobbágy, Á., L. Gyöngy, E. Monos, P. Harcos: Biomedical applications of a precision motion analysis system. Proceedings of the 7th International IMEKO TC-13 Conference on Measurement in Clinical Medicine: Model Based Biomeasurements, Stará Lesná, Slovakia, pp. 401-403.

Jobbágy, Á., L. Gyöngy, T. Dabóczi: Increasing the accuracy of a TV based motion analysis system. Proceedings of the 7th International IMEKO TC-13 Conference on Measurement in Clinical Medicine: Model Based Biomeasurements, Stará Lesná, Slovakia, pp. 385-387.

Jobbágy, Á., L. Gyöngy, Gy. Ábrahám, F. Martin: Processing of images in passive marker based motion analysis. Proceedings of COMBIO '95, Kecskemét, Hungary. KFKI Preprint/Report Series, 1995, Vol. 14. Ch.33, No. PtM&H, pp. I32-I36, ed. I. Erényi.

Jobbágy, Á. - E. H. Furnée: PRIMAS.EC - Precision Real-time Image-based Motion Analysis System at Economical Cost. In: Studies in Health Technology and Informatics, Eds.: Laires, M.F., Ladeira, M.J., Christensen, J.P. ,1995, Vol. 24, Ch. 106, pp. 363-364. IOS Press, Amsterdam. Proc. of the Conf. on Health in the New Communications Age - Health Care Telematics for the 21st Century. Lisbon, 6-10 Dec., 1994.

Á.Jobbágy - E.H.Furnée - H.L.J. van Veenendaal: Centre estimation of circles based on binarised images. Conf. Proc. of the XIIIth World Congress of IMEKO, 1994 Torino pp. 2534-2539.

Furnée, E.H. - Sabel, J.C. - van Veenendaal, H.L.J. - Á.Jobbágy: 3 - D Performance Characterization In Motion Analysis Systems: An Example.European Gait Analysis Symposium, 1992 Zürich p. 280-283.

Á.Jobbágy - E.H.Furnée - H.L.J. van Veenendaal: New Algorithms For Real-Time Marker Centre Estimation In Motion Analysis. Conf.Proc. of 2nd International Conf. On DSP Applications and Technology, 1991 Berlin p. 489-498.
 
 

 OTHER CONFERENCE PAPERS Á. Jobbágy - E.H. Furnée - L. Gyöngy - E. Monos - P. Harcos - F. Martin: Biomedical Applications of a Precision Motion Analysis System. Proceedings of 4th International Symposium on Electronics and Automation, HUNGELECTRO - HUNGAMAT '99. March 29-31, 1999. Budapest, Hungary. Ed. Miklós Lambert, ISBN 963 03 7245 2. Published by NYÁK - EXPRESS Ltd. pp. 102-105.

J. Thomas - Á. Jobbágy - E.H. Furnée - F. Fogarasi: Data Processing in Marker Based Motion Analysis. Proc. INTCOM98, Miskolc, 1998. pp. 186-192.

Á. Jobbágy - E. H. Furnée - Zs. Lóránt - A. Tóth - B. Romhányi - J. Thomas: Image Processing in Passive Marker -Based Motion Analysers. Proc. First Conf. on Mechanical Engineering, Springer Hungarica, 1998, pp. 830-834.

Jobbágy, Á., E.H. Furnée, L. Gyöngy, P. Harcos, Zs. Lóránt: Movement pattern analysis of neurological diseases. TEMPUS S_JEP, 07759-94 MODIFY SYMPOSIUM, Budapest and Miskolc, 6-10 May, 1997.

 Jobbágy, Á., L.Gyöngy, E.Monos, E.H.Furnée: Evaluating the Movement Patterns of Rats Using the PRIMAS Motion Analyzer. A XX. Neumann Kollokvium Kiadványa (szerk. Kozmann György), 1996. november 14-16, Veszprém. 73-76. old.

Monos, E., L. Gyöngy, Á. Jobbágy: New method for the evaluation of circadial movement of rats with gravitational load. Book of abstracts of the LXth Conference of the Hungarian Society of Physiology Budapest, 1995. (in Hungarian) p. 126.

Á.Jobbágy - E.H.Furnée - Gy.Ábrahám - F.Martin: Centre Estimation of Distorted Binarised Marker Images. Conf. Proc. of m P '94, The Eighth International Conference On Microprocessing and Microcomputing 1994 Budapest pp.605-614.

Á.Jobbágy: Resolution and Accuracy Of Motion Analysis Using CCD Based Cameras and Reflecting Markers. Conf. Proc. of m P '92, The Seventh International Conference On Microprocessing and Microcomputing 1992 Budapest pp. 471-478.
 
 

 JOURNAL PAPERS IN HUNGARIAN Romhányi, B. - Soós, G. - Jobbágy, Á. - Fogarasi, F.: Video-bázisú mozgásanalizátorok tesztelése. Kórház- és Orvostechnika, XXXVII. évfolyam 6. szám, 1999. november - december, 237- 242. oldal.

Thomas, J., - Soós, G. - Jobbágy, Á. - Furnée, H.: Az adatfeldolgozás két szintje a passzív markerbázisú mozgásanalizátorokban. Kórház- és Orvostechnika, XXXVII. évfolyam 6. szám, 1999. november - december, 243- 249. oldal.

Jobbágy Á.: Passzív markerbázisú mozgásanalízis. (Passive marker based motion analysis) Mérés- és Automatika, 1995. 42/2, pp. 32-33.
 
 

 CONFERENCE PAPERS IN HUNGARIAN Romhányi Balázs, Soós Gábor, Jobbágy Ákos, Fogarasi Fábián: Video-bázisú mozgásanalizátorok tesztelése. In Hungarian. (Testing of video-based motion analysers.) Conf. proc. of BUDAMED99, 12-14 September, Budapest, pp. 50-52. The paper is accepted for publication in the Hungarian journal Kórház és Orvostechnika.

Thomas, Júlia, Soós, Gábor, Jobbágy, Ákos, Furnée, Hans: Az adatfeldolgozás két szintje a passzív marker-bázisú mozgásanalizátorokban. In Hungarian. (Two levels of image processing in passive marker-based motion analysers.) Conf. proc. of BUDAMED99, 12-14 September, Budapest, pp. 53-55. The paper is accepted for publication in the Hungarian journal Kórház és Orvostechnika.

Lóránt Zs., Gyöngy L., Jobbágy Á., Monos E.: Patkányokon elhelyezett marker-elrendezések felismerése. Konferencia kiadvány, XXI. Neumann Kollokvium és Kiállítás, Veszprém, 1998. pp. 49-52.

Jobbágy, Á.: A markerbázisú mozgásanalízis pontosságának növelése. (Increasing the accuracy of marker-based motion analysis) Konferencia kiadvány, MEDICOMP'92 Kollokvium Szeged, 1992. pp. 156-163.
 
 

 TECHNICAL REPORTS IN ENGLISH Jobbágy, Á. - E.H.Furnée: Intensity-weighted centre estimation in marker based motion capture. Deliverable #4 to DG XIII of CEC, according to COPERNICUS project PRIMAS.EC (CIPA3510CT937845) March 1995.

Jobbágy, Á. - E.H.Furnée: Centre estimation in marker based motion analysis. Deliverable #1 to DG XIII of CEC, according to COPERNICUS project PRIMAS.EC (CIPA3510CT937845) Sept. 1994.

Á.Jobbágy: The Study of Resolution and Accuracy in TV-based Motion Analysis Using Simulation Programs. Delft University of Technology, Fac. Applied Physics, 1991. dec. Technical report.
 
 

 TECHNICAL REPORTS IN HUNGARIAN Jobbágy, Á. - Gyöngy, L. - Dabóczi T. - Martin, F.: Új algoritmusok és módszerek alkalmazása passzív markerek követésén alapuló mozgásanalizáló rendszerek pontosságának növelésére. (Application of new algorithms and methods to increase the accuracy of passive marker based motion analysers) Kutatási zárójelentés a 04057 93 12 13 nyilvántartási számú OMFB szerzõdéshez, 1995.

Jobbágy, Á. - Gyöngy, L. - Ábrahám, Gy. - Martin, F.: Új algoritmusok és módszerek alkalmazása passzív markerek követésén alapuló mozgásanalizáló rendszerek pontosságának növelésére. (Application of new algorithms and methods to increase the accuracy of passive marker based motion analysers Kutatási részjelentés a 04057 93 12 13 nyilvántartási számú OMFB szerzõdéshez, 1994.