O critério de base para a classificação morfológica das articulações sinoviais é a forma das superfícies articulares. Contudo, às vezes é difícil fazer esta correlação. Além disto, existem divergências entre anatomistas quanto não só a classificação de determinadas articulações, mas também quanto à denominação dos tipos. De acordo com a nomenclatura anatômica, os tipos morfológicos de articulações sinoviais são:
*Planas: superfícies articulares planas(ossos do carpo).
*Gínglimo:permite movimentos de flexão/extensão(dobradiça).
*Cilindróide ou trocóide:superfícies articulares são segmentos de cilindro(atlas e axis).
*Condilar:uma superfície ovóide (condilo) se aloja em uma cavidade elíptica(temporo- mandibular)
*Esferóide:uma das superfícies é um segmento de esfera que se encaixa em uma concavidade(escapulo-umeral,coxo-femoral)._Selar:tem um formato de sela(interfalângica do cão).
*Elipsóide;segmento de elipseem uma cavidade(rádiocárpica do cão).
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