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- Biomechanics (6)
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- Haptic feedback (2)
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- Minimally-invasive surgery (2)
Articles 1 - 30 of 103
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Prostate Tissue Motion Tracking And Ultrasound Elastography Using Tissue Mechanics Derived Constraints, Tristan S. Curry
Prostate Tissue Motion Tracking And Ultrasound Elastography Using Tissue Mechanics Derived Constraints, Tristan S. Curry
Electronic Thesis and Dissertation Repository
Current prostate cancer detection methods can be costly to obtain, such as magnetic resonance imaging, or lack specificity, such as a digital rectal exam. Ultrasound elastography, a method that can be used to develop and test algorithms that output stiffness, strain, and displacement data captured by ultrasound radio frequency readings, offers a potential solution to these challenges. An initial algorithm utilizing dynamic programming and analytic minimization estimates the radial and angular displacements from a pre- and post-compression data set to determine the required material properties. This estimate of displacements is then refined through an algorithm where incompressibility, Laplacian smoothing, and …
Towards The Development Of Wearable Tremor Suppression Systems Combining Functional Electrical Stimulation And Mechanical Actuation, Zahra Habibollahi
Towards The Development Of Wearable Tremor Suppression Systems Combining Functional Electrical Stimulation And Mechanical Actuation, Zahra Habibollahi
Electronic Thesis and Dissertation Repository
Parkinson's disease (PD), the second most prevalent neurological disorder, is characterized by motor and non-motor symptoms including tremor. Wearable tremor suppression devices (WTSDs), have shown promising results for tremor reduction, using functional electrical stimulation (FES) or active actuators. However, results and study procedures are not consistent in the literature. Although stimulations below and above motor threshold can suppress tremor, the mechanisms of the first is still not clear, and the second might lead to muscle fatigue and discomfort over time. While active actuators have shown better results for tremor suppression, they are often heavy and bulky for daily use. Lastly, …
Development And Validation Of The Motion Shirt: A Wearable Sensor System For Monitoring Upper Limb Motion In Shoulder Joint Replacement Patients, Sohrob Milanizadeh
Development And Validation Of The Motion Shirt: A Wearable Sensor System For Monitoring Upper Limb Motion In Shoulder Joint Replacement Patients, Sohrob Milanizadeh
Electronic Thesis and Dissertation Repository
Wearable sensors have become the study topic of researchers across various clinical disciplines, presenting promising avenues for their integration into clinical practices. Inertial measurement units (IMUs) have become significantly notable among the variety of sensor types, due to their non-invasive, and lightweight design. Moreover, they are increasingly used and applied in novel motion technologies since IMUs collect precise motion and orientation data when attached to specified body regions. In this dissertation, a wearable sensor system known as the Motion Shirt, equipped with 5 IMU sensors, has been developed and embedded into a flexible garment, enables continuous and accurate arms and …
Porous Titanium Alloy Constructs For Mandibular Reconstruction, Khaled Marwan Anis Hijazi
Porous Titanium Alloy Constructs For Mandibular Reconstruction, Khaled Marwan Anis Hijazi
Electronic Thesis and Dissertation Repository
The goal of this study was to develop and validate finite element analysis (FEA) models to predict static and dynamic mechanical properties of porous titanium 6-aluminum 4-vanadium (Ti6Al4V) constructs. Dumbbell-shaped and square prism porous computer models were created with simple cubic unit cell structures with a size of 1 mm and strut thicknesses varying between 250 and 650 µm. The pore diameters ranged between 350 and 750 µm. Constructs were manufactured using selective laser melting (SLM). These constructs were scanned using computed tomography (CT) and scanning electron microscopy (SEM). These constructs were then tested under tensile and flexural static loading …
The Development And Testing Of A Gyroscope-Based Neck Strengthening Rehabilitation Device, Nicole D. Devos
The Development And Testing Of A Gyroscope-Based Neck Strengthening Rehabilitation Device, Nicole D. Devos
Electronic Thesis and Dissertation Repository
Neck pain can be debilitating, and is experienced by the majority of people at some point over the course of their life. Resistance training has been shown to have significant improvement in pain or disability for patients. There are few options available for telerehabilitation, and the use of gyroscope stabilizers is proposed for this use. A biomechanics model of a head--neck--gyroscope system was created. In order to also model the dynamics of such a system, this work proposes a blended method using the Denavit--Hartenberg (DH) convention, popular in the field of robotics, with the Lagrangian mechanics approach to analyze an …
Free-Hand Photoacoustic Imaging Of Breast Cancer Tissue, Elina Rascevska
Free-Hand Photoacoustic Imaging Of Breast Cancer Tissue, Elina Rascevska
Electronic Thesis and Dissertation Repository
Approximately 19% of breast cancer patients undergoing breast conserving surgery (BCS) must return for a re-excision surgery due to positive margin reported by pathology. This problem is mainly associated with lack of intraoperative cancer margin assessment tools. Our previous work demonstrated that lipid-weighted photoacoustic imaging (PAI) can be used intraoperatively to successfully differentiate between cancerous and healthy tissue with high sensitivity. However, the technology was cumbersome and significantly prolonged the procedure time. The goal of this work was to develop a compact hand-held probe, working on lipid-weighted PAI principles, that can provide feedback during BSC without significantly altering the surgical …
Evaluating Eeg–Emg Fusion-Based Classification As A Method For Improving Control Of Wearable Robotic Devices For Upper-Limb Rehabilitation, Jacob G. Tryon
Evaluating Eeg–Emg Fusion-Based Classification As A Method For Improving Control Of Wearable Robotic Devices For Upper-Limb Rehabilitation, Jacob G. Tryon
Electronic Thesis and Dissertation Repository
Musculoskeletal disorders are the biggest cause of disability worldwide, and wearable mechatronic rehabilitation devices have been proposed for treatment. However, before widespread adoption, improvements in user control and system adaptability are required. User intention should be detected intuitively, and user-induced changes in system dynamics should be unobtrusively identified and corrected. Developments often focus on model-dependent nonlinear control theory, which is challenging to implement for wearable devices.
One alternative is to incorporate bioelectrical signal-based machine learning into the system, allowing for simpler controller designs to be augmented by supplemental brain (electroencephalography/EEG) and muscle (electromyography/EMG) information. To extract user intention better, sensor …
Novel Magnetic Resonance Imaging-Compatible Mechatronic Needle Guidance System For Prostate Focal Laser Ablation Therapy, Eric R. Knull
Novel Magnetic Resonance Imaging-Compatible Mechatronic Needle Guidance System For Prostate Focal Laser Ablation Therapy, Eric R. Knull
Electronic Thesis and Dissertation Repository
Advances in prostate cancer (PCa) screening techniques have led to diagnosis of many cases of low-grade and highly localized disease. Conventional whole-gland therapies often result in overtreatment in such cases and debate still surrounds the optimal method of oncologic control. MRI-guided prostate focal laser ablation (FLA) is a minimally invasive treatment option, which has demonstrated potential to destroy localized lesions while sparing healthy prostatic tissue, thereby reducing treatment-related side effects. Many challenges still exist in the development of FLA, including patient selection; tumour localization, visualization, and characterization; needle guidance; and evaluation of treatment efficacy. The objective of this thesis work …
Development And Validation Of Mechatronic Systems For Image-Guided Needle Interventions And Point-Of-Care Breast Cancer Screening With Ultrasound (2d And 3d) And Positron Emission Mammography, Claire Ks Park
Electronic Thesis and Dissertation Repository
The successful intervention of breast cancer relies on effective early detection and definitive diagnosis. While conventional screening mammography has substantially reduced breast cancer-related mortalities, substantial challenges persist in women with dense breasts. Additionally, complex interrelated risk factors and healthcare disparities contribute to breast cancer-related inequities, which restrict accessibility, impose cost constraints, and reduce inclusivity to high-quality healthcare. These limitations predominantly stem from the inadequate sensitivity and clinical utility of currently available approaches in increased-risk populations, including those with dense breasts, underserved and vulnerable populations.
This PhD dissertation aims to describe the development and validation of alternative, cost-effective, robust, and high-resolution …
Mechanical Evaluation Of Gyroid Structures To Combat Orthopaedic Implant Infections, Sydney Hitchon
Mechanical Evaluation Of Gyroid Structures To Combat Orthopaedic Implant Infections, Sydney Hitchon
Electronic Thesis and Dissertation Repository
Treatment of infected orthopaedic implants often require two separate surgeries to clear the infection and install a replacement implant. Current antimicrobial drug delivery methods are inefficient, and each additional surgery increases the physiologic burden on patients, with an increased risk of infection, decreased range of motion and longer recovery times. Porous orthopaedic implants, with adequate strength for permanent implantation and the ability to house and elude more efficient antibiotic delivery systems, could result in a single surgery to treat orthopaedic infections. Therefore, finite element models of porous gyroid structures at different porosities were developed and compared with experimental results. Discrepancies …
Modelling And Evaluation Of Piezoelectric Actuators For Wearable Neck Rehabilitation Devices, Shaemus D. Tracey
Modelling And Evaluation Of Piezoelectric Actuators For Wearable Neck Rehabilitation Devices, Shaemus D. Tracey
Electronic Thesis and Dissertation Repository
Neck pain is the most common neck musculoskeletal disorder, and the fourth leading cause of healthy years lost due to disability in the world. Due to the need of hands-on physical therapy and Canada’s aging population, access to treatment will become highly constrained. Wearable devices that allow at-home rehabilitation address this future limitation. However, few have emerged from the laboratory setting because they are limited by the use of conventional actuators. An overlooked type of actuation technology is that of piezoelectric actuators, more specifically, travelling wave ultrasonic motors (TWUM).
In this work, a clear procedure that outlines how the required …
The Development Of A Motion Sensing Device For Use In A Home Setting, Jaspreet K. Kalsi
The Development Of A Motion Sensing Device For Use In A Home Setting, Jaspreet K. Kalsi
Electronic Thesis and Dissertation Repository
Parkinson's disease (PD) is the second most prevalent neurodegenerative disease, with over 10 million individuals diagnosed with PD world-wide. The most common symptom characterized by PD is tremor. Tremor is an involuntary oscillatory motion that most prominently occurs in upper limb, specifically in the hand and wrist that has a measurable frequency and amplitude. This thesis aims to evaluate the usability and functionality of a tremor sensing device designed to collect quantitative data on individuals with PD. The designed device uses 23 commercially-available inertial measuring units (IMUs) located between 21 joints: distal interphalangeal (DIP) joints, proximal interphalangeal (PIP) joints, Interphalangeal …
Development Of Carbon-Based Nano-Structural Fluorescent Biosensor, Yingqi Zhang
Development Of Carbon-Based Nano-Structural Fluorescent Biosensor, Yingqi Zhang
Electronic Thesis and Dissertation Repository
Detection systems with high sensitivity and selectivity are critical for daily health monitoring and clinical diagnostics. Nanomaterials have shown great potentials in user-friendly biomedical devices, such as biosensors, because of their special chemical and physical properties. Recently, carbon-based nanostructures have attracted great attentions in the application of miniaturized biomedical devices because of their enhanced optical properties and biocompatibility. Herein, this thesis focuses on developing carbon-based nanostructured biosensing systems by employing advanced fluorescence technologies.
Gene detection is vital for early-stage diagnosis of diseases, e.g., breast cancer. The first sensing system has been developed to quantitatively detect breast cancer-associated gene by using …
Motion And Crosslinked Polyethylene Wear In Reverse Total Shoulder Arthroplasty, Christopher Millward
Motion And Crosslinked Polyethylene Wear In Reverse Total Shoulder Arthroplasty, Christopher Millward
Electronic Thesis and Dissertation Repository
The reverse total shoulder arthroplasty (RTSA) has quickly grown to become the most commonly used shoulder arthroplasty design; however, reports have shown evidence of RTSA failures related to polyethylene wear and damage. Therefore, the present work investigated the wear of crosslinked polyethylene (XLPE) in environments similar to that of an in vivo RTSA. Additionally, a computational model was developed based on a previous study of the shoulder motions obtained from a selection of typical patients with RTSA. This model quantified the amount of glenohumeral motion that an RTSA may be subjected to in vivo and provided an approximate value for …
Early Biological Response Of Articular Cartilage To Hemiarthroplasty Wear, Debora Rossetti
Early Biological Response Of Articular Cartilage To Hemiarthroplasty Wear, Debora Rossetti
Electronic Thesis and Dissertation Repository
Hemiarthroplasties typically result in accelerated wear of the preserved side of the joint, resulting in suboptimal clinical outcomes and limited longevity. This in vitro study investigated the effects of hemiarthroplasty implant curvature on the early biological response of articular cartilage measured by proteoglycan release, histology, and surface morphology. Cartilage from boar radiocarpal joints were worn by metal pins of varying radii of curvature (RoC) using a pin-on-plate wear simulator. Histology and proteoglycan assays showed no significant differences between RoC treatment groups, and proteoglycan assays showed increased proteoglycan release 72 hours after wear testing in worn cartilage specimens compared to control …
The Bio-Mechanical Development And Kinematic Evaluation Of Zone I And Zone Ii Injuries And Their Corresponding Surgical Repair Techniques Using An In-Vitro Active Finger Motion Simulator: A Cadaveric Study, Mohammad Haddara
Electronic Thesis and Dissertation Repository
Research development involving large scale joint mechanics and biomechanical adaptations is growing. However, interest in smaller scale joints, such as the fingers, is limited. Thus, the present work describes the enhancement and clinical application of a previously designed in-vitro active finger motion simulator in measuring and assessing intrinsic joint kinematics and tissue biomechanics including load transfer and strains induced tissues within the finger. Accuracy of electromagnetic tracking (EM) systems were evaluated compared to the standard optical tracking systems and used to develop motion derived finger joint coordinate systems. Moreover, minute strain gauges were utilized to measure strains induced by the …
Biomechanical Analysis Of Ligament Modelling Techniques And Femoral Component Malrotation Following Tka, Liam A. Montgomery
Biomechanical Analysis Of Ligament Modelling Techniques And Femoral Component Malrotation Following Tka, Liam A. Montgomery
Electronic Thesis and Dissertation Repository
Previous studies have demonstrated that satisfaction and revision rates following total knee arthroplasty (TKA) are lower than those of comparable surgeries such as total hip replacements. A leading cause for these revisions is joint instability which may be due to improper ligament balancing or poorly aligned surgical implants. One of the methods used to investigate biomechanical forces and kinematics is computational modelling of the post-operative TKA knee.
A unique knee model was used to investigate the biomechanical and kinematic effects of ligament model complexity, as well as the effects of simulating ligament wrapping versus ignoring ligament wrapping. We then used …
Biomaterial For Cervical Intervertebral Disc Prosthesis, Helium Mak
Biomaterial For Cervical Intervertebral Disc Prosthesis, Helium Mak
Electronic Thesis and Dissertation Repository
Recent long-term follow-up studies have shown that the cervical disc arthroplasty treatment have potentials in developing surrounding heterotopic ossification (HO). While its cause requires further investigation, this thesis has hypothesized that it may be the result of the continual remodeling of the injured vertebrae caused by the prostheses with smaller footprints introducing abnormal stresses. The research objective of this thesis is to develop a new prosthesis material that can be molded into any form conforming to the size and shape of the end-plates of the affected patient vertebrae. For prototype development, a composite material consisting of 10wt% polyvinyl alcohol cryogel …
Development Of A Wireless Telemetry Load And Displacement Sensor For Orthopaedic Applications, William Anderson
Development Of A Wireless Telemetry Load And Displacement Sensor For Orthopaedic Applications, William Anderson
Electronic Thesis and Dissertation Repository
Due to sensor size and supporting circuitry, in vivo load and deformation measurements are currently restricted to applications within larger orthopaedic implants. The objective of this thesis is to repurpose a commercially available low-power, miniature, wireless, telemetric, tire-pressure sensor (FXTH87) to measure load and deformation for future use in biomechanical applications. The capacitive transducer membrane of the FXTH87 was modified, and a relationship was reported between applied compressive deformation and sensor signal value. The sensor package was embedded within a deformable enclosure to illustrate potential applications of the sensor for monitoring load. Finite element analysis was an effective tool to …
Snapshot Three-Dimensional Surface Imaging With Multispectral Fringe Projection Profilometry, Parsa Omidi
Snapshot Three-Dimensional Surface Imaging With Multispectral Fringe Projection Profilometry, Parsa Omidi
Electronic Thesis and Dissertation Repository
Fringe Projection Profilometry (FPP) is a popular method for non-contact optical surface measurements, including motion tracking. The technique derives 3D surface maps from phase maps estimated from the distortions of fringe patterns projected onto the surface of an object. Estimation of phase maps is commonly performed with spatial phase retrieval algorithms that use a series of complex data processing stages. Researchers must have advanced data analysis skills to process FPP data due to a lack of availability of simple research-oriented software tools. Chapter 2 describes a comprehensive FPP software tool called PhaseWareTM that allows novice to experienced users to …
Development Of A Wearable Haptic Feedback Device For Upper Limb Prosthetics Through Sensory Substitution, Marco B.S. Gallone
Development Of A Wearable Haptic Feedback Device For Upper Limb Prosthetics Through Sensory Substitution, Marco B.S. Gallone
Electronic Thesis and Dissertation Repository
Haptics can enable a direct communication pipeline between the artificial limb and the brain; adding haptic sensory feedback for prosthesis wearers is believed to improve operation without drawing too much of the user's attention. Through neuroplasticity, the brain can become more cognizant of the information delivered through the skin and may eventually interpret it as inherently as other natural senses. In this thesis, a wearable haptic feedback device (WHFD) is developed to communicate prosthesis sensory information. A 14-week, 6-stage, between subjects study was created to investigate the learning trajectory as participants were stimulated with haptic patterns conveying joint proprioception. 37 …
In-Clinic Functional Measurement And Analysis Of Knee Osteoarthritis Patients Undergoing Total Knee Replacement, Riley A. Bloomfield
In-Clinic Functional Measurement And Analysis Of Knee Osteoarthritis Patients Undergoing Total Knee Replacement, Riley A. Bloomfield
Electronic Thesis and Dissertation Repository
Prevalence of osteoarthritis is increasing as individuals are remaining active later in life. Since the knee is one of the most commonly affected joints and is involved in almost all daily activities, functional impairment has a substantial impact on overall health. Despite this increase, there currently exists no disease modifying drugs or treatments. Mild cases are managed with physiotherapeutic exercises and common anti-inflammatories but surgical intervention is required for more severe disease progression.
Total knee replacement as a treatment for osteoarthritis is a highly successful surgery that is effective at restoring knee function and reducing pain but still requires further …
Motion Intention Estimation Using Semg-Acc Sensor Fusion, Jose Alejandro Lopez
Motion Intention Estimation Using Semg-Acc Sensor Fusion, Jose Alejandro Lopez
Electronic Thesis and Dissertation Repository
Musculoskeletal injuries can severely impact the ability to produce and control body motion. In order to regain function, rehabilitation is often required. Wearable smart devices are currently under development to provide therapy and assistance for people with impaired arm function. Electromyography (EMG) signals are used as an input to pattern recognition systems to determine intended movements.
However, there is a gap between the accuracy of pattern recognition systems in constrained laboratory settings, and usability when used for detecting dynamic unconstrained movements. Motion factors such as limb position, interaction force, and velocity, are known to have a negative impact on the …
Feasibility Of Twisted Coiled Polymer Actuators For Use In Upper Limb Wearable Rehabilitation Devices, Brandon P.R. Edmonds
Feasibility Of Twisted Coiled Polymer Actuators For Use In Upper Limb Wearable Rehabilitation Devices, Brandon P.R. Edmonds
Electronic Thesis and Dissertation Repository
Throughout your lifetime, it is nearly impossible to avoid at least one musculoskeletal condition that requires rehabilitation, and for a world containing billions of people, the costs associated with these conditions have become a huge economic burden. Nevertheless, the scientific community has become increasingly aware of the growing potential for wearable mechatronic systems to assist with upper-limb musculoskeletal rehabilitation; however, one limiting factor to their clinical acceptance lies in the development of actuation solutions. Conventional actuators are rigid and cylindrical in nature, requiring additional features to provide the proper forces, torques, and motion direction, required for human interaction. Another type …
Lanthanide Nanoparticles As Contrast Agents For In Vivo Dual Energy Microcomputed Tomography Of The Mouse Vasculature, Charmainne Cruje
Lanthanide Nanoparticles As Contrast Agents For In Vivo Dual Energy Microcomputed Tomography Of The Mouse Vasculature, Charmainne Cruje
Electronic Thesis and Dissertation Repository
Dual energy (DE) computed tomography (CT) has the capability to influence medicine and pre-clinical research by providing quantitative information that can detect nascent lesions, identify perfusion restoration or inhomogeneities within tissues, and recognize the presence of calcium deposits. A wide variety of instrumentation techniques and scan protocols have been developed for DE CT, with a common goal of acquiring a pair of images that reports the attenuation of a given volume to two different x-ray distributions. While DE image acquisition has benefitted from technical advancements in CT, the contrast agents that are used are still predominantly composed of iodinated small …
Development Of An Active Infection Monitoring Knee Spacer For Two-Stage Revision, Michael K. Lavdas
Development Of An Active Infection Monitoring Knee Spacer For Two-Stage Revision, Michael K. Lavdas
Electronic Thesis and Dissertation Repository
Infections requiring surgical revision occur in ~3% of total knee arthroplasty (TKA) procedures. The standard treatment for TKA infection in North America is referred to as the two-stage revision process. Unfortunately, the success rate of the two-stage revision is low, at roughly 85%. There are indications that the two-stage revision may fail to clear the infection due to unsatisfactory diagnostic tools. This thesis depicts the development and evaluation of a novel telemetric sensing package designed for integration into the two-stage revision process. Studies within evaluate its performance through sensor validation, thermal insulation testing, radio frequency penetration evaluation, a cadaveric loading …
The Of Application Of 3d-Printing To Lumbar Spine Surgery, Andrew J. Kanawati
The Of Application Of 3d-Printing To Lumbar Spine Surgery, Andrew J. Kanawati
Electronic Thesis and Dissertation Repository
Rapid prototyping refers to the manufacturing process in which a three-dimensional (3D) digital model can be transformed into a physical model by layering material in the shape of successive cross sections atop of previously layers. Rapid prototyping has been increasing in popularity in the field of medicine and surgery due to the ability to personalize various aspects of patient care. The thesis will explore the use of rapid prototyping in lumbar spine surgery, aim to quantify the accuracy of medical imaging when relating to imaged structures and their corresponding models produced by rapid prototyping, and determine if complex patient-specific guides …
A Wearable Mechatronic Device For Hand Tremor Monitoring And Suppression: Development And Evaluation, Yue Zhou
A Wearable Mechatronic Device For Hand Tremor Monitoring And Suppression: Development And Evaluation, Yue Zhou
Electronic Thesis and Dissertation Repository
Tremor, one of the most disabling symptoms of Parkinson's disease (PD), significantly affects the quality of life of the individuals who suffer from it. These people live with difficulties with fine motor tasks, such as eating and writing, and suffer from social embarrassment. Traditional medicines are often ineffective, and surgery is highly invasive and risky. The emergence of wearable technology facilitates an externally worn mechatronic tremor suppression device as a potential alternative approach for tremor management. However, no device has been developed for the suppression of finger tremor that has been validated on a human.
It has been reported in …
Investigation Of Visual Perceptions In Parkinson's Disease And The Development Of Disease Monitoring Software, Matthew Bernardinis
Investigation Of Visual Perceptions In Parkinson's Disease And The Development Of Disease Monitoring Software, Matthew Bernardinis
Electronic Thesis and Dissertation Repository
Non-motor Parkinson’s Disease (PD) symptoms are substantial factors of PD arising throughout disease stages, yet their diagnosis and monitoring remain a challenge. Sensory abnormalities in PD occur across sensory systems and disease stages, contributing to disease-related impairments. However, the extent of symptoms is unknown, with inadequate monitoring and treatment options furthering disease management difficulties. The current work studies movement-independent visual perceptions of time, displacement and velocity in PD patients across disease stages using levodopa, deep brain stimulation (DBS), or no PD therapy. Perceptual tasks were conducted using a computer-generated graphical device designed with a focus on simplicity and flexibility. Perception …
Quantifying The Outcomes Of A Virtual Reality (Vr)-Based Gamified Neck Rehabilitation, Shahan Salim
Quantifying The Outcomes Of A Virtual Reality (Vr)-Based Gamified Neck Rehabilitation, Shahan Salim
Electronic Thesis and Dissertation Repository
Neck pain is a major global public health concern and adds a significant financial burden to both the healthcare system as well as people suffering from it. Additionally, it presents measurement and evaluation challenges for clinicians as well as adherence challenges and treatment barriers for the patients. We have developed a virtual reality (VR)-based video game that can be used to capture outcomes that may aid in the assessment and treatment of neck pain. We investigated: (i) performance metrics of overall accuracy, accuracy based on movement difficulty, duration, and total envelope of movement; (ii) stability across sessions; (iii) accuracy across …