The iliopsoas is actually the blending of two muscles, the large, flat triangulariliacus and the fusiform psoas major. It is considered a single muscle group that begins deep in the back of the abdomen where the iliacus orignates from the iliac fossa and the psoas major originates from the bodies of the vertebrae and invertebral disks from the twelfth thoracic to the fifth lumbar and the transverse processes of the lumbarvertebrae. The muscle converges towards its insertion on the back of the femur. It is innervated by the lumbar plexus and supplied by posterior branches of the profunda femoris artery. This muscle is a powerful flexor of the hip joint. It flexes the thigh when kicking, or the pelvis and trunk when doing sit-ups. Research Iliopsoas
 
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Matt and Leela Probert