Abstract: BACKGROUNDS: Accurate three-dimensional (3D) models of lumbar vertebrae are required for image-based 3D kinematics analysis. MRI or CT datasets are frequently used to derive 3D models but have the disadvantages that they are expensive, time-consuming or involving ionizing radiation (e.g., CT acquisition). An alternative method using 2D lateral fluoroscopy was developed. MATERIALS AND METHODS: A technique was developed to reconstruct a scaled 3D lumbar vertebral model from a single two-dimensional (2D) lateral fluoroscopic image and a statistical shape model of the lumbar vertebrae. Four cadaveric lumbar spine segments and two statistical shape models were used for testing. Reconstruction accuracy was determined by comparison of the surface models reconstructed from the single lateral fluoroscopic images to the ground truth data from 3D CT segmentation. For each case, two different surface-based registration techniques were used to recover the unknown scale factor, and the rigid transformation between the reconstructed surface model and the ground truth model before the differences between the two discrete surface models were computed. RESULTS: Successful reconstruction of scaled surface models was achieved for all test lumbar vertebrae based on single lateral fluoroscopic images. The mean reconstruction error was between 0.7 and 1.6 mm. CONCLUSIONS: A scaled, patient-specific surface model of the lumbar vertebra from a single lateral fluoroscopic image can be synthesized using the present approach. This new method for patient-specific 3D modeling has potential applications in spine kinematics analysis, surgical planning, and navigation.
Abstract: To present the auditory implant manipulator, a navigation-controlled mechanical and electronic system which enables minimally invasive ('keyhole') transmastoid access to the tympanic cavity.
Abstract: 2D-3D image-based registration methods have been developed to measure acetabular cup orientation after total hip arthroplasty (THA). These methods require registration of both the prosthesis and the CT images to 2D radiographs and compute implant position with respect to a reference. The application of these methods is limited in clinical practice due to two limitations: (1) the requirement of a computer-aided design (CAD) model of the prosthesis, which may be unavailable due to the proprietary concerns of the manufacturer, and (2) the requirement of either multiple radiographs or radiograph-specific calibration, usually unavailable for retrospective studies. In this paper, we propose a new method to address these limitations.
Abstract: Accurate reconstruction of a patient-specific surface model of the proximal femur from preoperatively or intraoperatively available sparse data plays an important role in planning and supporting various computer-assisted surgical procedures.
Abstract: Single standard anteroposterior radiograph-based methods for measuring cup orientation following total hip arthroplasty (THA) are subject to substantial errors if the individual pelvic orientation with respect to X-ray plate is not taken into consideration. Previously, we proposed to use a hybrid 2D-3D registration scheme to determine the postoperative acetabular cup orientation and developed an object-oriented cross-program called "HipMatch." However, its accuracy and robustness have not been fully investigated. To assess the potential factors that may affect the accuracy and robustness of the hybrid 2D-3D registration scheme in determining the postoperative acetabular cup orientation, a comprehensive validation study using a cadaver pelvis was performed. Nine X-ray radiographs taken from different pelvic positions relative to the X-ray plate and two computed tomography volumes of the pelvis with one acquired before the cup implantation and the other acquired after the cup implantation were used in the validation study. Potential factors that may affect the accuracy and robustness of the hybrid 2D-3D registration scheme were experimentally determined. Our experimental results demonstrate that (1) the plain radiograph-based method is not accurate; (2) the hybrid 2D-3D registration scheme helps to improve the estimation accuracy; (3) the hybrid 2D-3D registration scheme can robustly and accurately estimate the cup orientation even when a big portion of the radiograph is occluded; and (4) image resolution has minor effect on the estimation accuracy. The hybrid 2D-3D registration scheme is an accurate and robust method to measure exact cup orientation in THA. It holds the promise to be a valuable tool for clinical routine usage for providing evidence-based information.
Abstract: The aim of this article is to investigate the feasibility of using a statistical shape model (SSM)-based reconstruction technique to derive a scaled, patient-specific surface model of the pelvis from a single standard anteroposterior (AP) x-ray radiograph and the feasibility of estimating the scale of the reconstructed surface model by performing a surface-based 3D/3D matching.
Abstract: This paper addresses the problem of estimating the 3D rigid poses of a CT volume of an object from its 2D X-ray projection(s). We use maximization of mutual information, an accurate similarity measure for multi-modal and mono-modal image registration tasks. However, it is known that the standard mutual information measures only take intensity values into account without considering spatial information and their robustness is questionable. In this paper, instead of directly maximizing mutual information, we propose to use a variational approximation derived from the Kullback-Leibler bound. Spatial information is then incorporated into this variational approximation using a Markov random field model. The newly derived similarity measure has a least-squares form and can be effectively minimized by a multi-resolution Levenberg-Marquardt optimizer. Experiments were conducted on datasets from two applications: (a) intra-operative patient pose estimation from a limited number (e.g. 2) of calibrated fluoroscopic images, and (b) post-operative cup orientation estimation from a single standard X-ray radiograph with/without gonadal shielding. The experiment on intra-operative patient pose estimation showed a mean target registration accuracy of 0.8mm and a capture range of 11.5mm, while the experiment on estimating the post-operative cup orientation from a single X-ray radiograph showed a mean accuracy below 2 degrees for both anteversion and inclination. More importantly, results from both experiments demonstrated that the newly derived similarity measures were robust to occlusions in the X-ray image(s).
Abstract: The widely used procedure of estimating post-operative cup orientation based on a single standard AP X-ray radiograph is known inaccurate, largely due to the wide variability in individual pelvic orientation relative to X-ray plate. CT-based 2D/3D rigid image registration methods have been developed to measure post-operative cup orientation. Although encouraging results have been reported, their extensive usage in clinical routine is still limited. This may be explained by their requirement of having a CT study of the patient at some point during treatment, which is not available for vast majority of Total Hip Arthroplasty procedures performed nowadays. To address this limitation, this article proposes a statistically deformable 2D/3D registration approach for estimating post-operative cup orientation. No CT study of the patient is required any more. Compared to ground truths established from post-operative CT images, the cup orientations measured by the present technique in a cadaver experiment showed differences of 1.7 +/- 1.4 degrees for anteversion and difference of 1.5 +/- 1.5 degrees for inclination. When the present technique was evaluated on patients' datasets, differences of 2.2 +/- 1.3 degrees and differences of 2.0 +/- 0.8 degrees were found for the anteversion and the inclination, respectively. The experimental results, though still preliminary, demonstrated the efficacy of the present approach.
Abstract: Seventeen bones (sixteen cadaveric bones and one plastic bone) were used to validate a method for reconstructing a surface model of the proximal femur from 2D X-ray radiographs and a statistical shape model that was constructed from thirty training surface models. Unlike previously introduced validation studies, where surface-based distance errors were used to evaluate the reconstruction accuracy, here we propose to use errors measured based on clinically relevant morphometric parameters. For this purpose, a program was developed to robustly extract those morphometric parameters from the thirty training surface models (training population), from the seventeen surface models reconstructed from X-ray radiographs, and from the seventeen ground truth surface models obtained either by a CT-scan reconstruction method or by a laser-scan reconstruction method. A statistical analysis was then performed to classify the seventeen test bones into two categories: normal cases and outliers. This classification step depends on the measured parameters of the particular test bone. In case all parameters of a test bone were covered by the training population's parameter ranges, this bone is classified as normal bone, otherwise as outlier bone. Our experimental results showed that statistically there was no significant difference between the morphometric parameters extracted from the reconstructed surface models of the normal cases and those extracted from the reconstructed surface models of the outliers. Therefore, our statistical shape model based reconstruction technique can be used to reconstruct not only the surface model of a normal bone but also that of an outlier bone.
Abstract: The widely used procedure of evaluation of cup orientation following total hip arthroplasty using single standard anteroposterior (AP) radiograph is known inaccurate, largely due to the wide variability in individual pelvic orientation relative to X-ray plate. 2D-3D image registration methods have been introduced for an accurate determination of the post-operative cup alignment with respect to an anatomical reference extracted from the CT data. Although encouraging results have been reported, their extensive usage in clinical routine is still limited. This may be explained by their requirement of a CAD model of the prosthesis, which is often difficult to be organized from the manufacturer due to the proprietary issue, and by their requirement of either multiple radiographs or a radiograph-specific calibration, both of which are not available for most retrospective studies. To address these issues, we developed and validated an object-oriented cross-platform program called "HipMatch" where a hybrid 2D-3D registration scheme combining an iterative landmark-to-ray registration with a 2D-3D intensity-based registration was implemented to estimate a rigid transformation between a pre-operative CT volume and the post-operative X-ray radiograph for a precise estimation of cup alignment. No CAD model of the prosthesis is required. Quantitative and qualitative results evaluated on cadaveric and clinical datasets are given, which indicate the robustness and the accuracy of the program. HipMatch is written in object-oriented programming language C++ using cross-platform software Qt (TrollTech, Oslo, Norway), VTK, and Coin3D and is transportable to any platform.
Abstract: Constructing a 3D bone surface model from a limited number of calibrated 2D X-ray images (e.g. 2) and a 3D point distribution model is a challenging task, especially, when we would like to construct a patient-specific surface model of a bone with pathology. One of the key steps for such a 2D/3D reconstruction is to establish correspondences between the 2D images and the 3D model. This paper presents a 2D/3D correspondence building method based on a non-rigid 2D point matching process, which iteratively uses a symmetric injective nearest-neighbor mapping operator and 2D thin-plate splines based deformations to find a fraction of best matched 2D point pairs between features extracted from the X-ray images and those extracted from the 3D model. The estimated point pairs are then used to set up a set of 3D point pairs such that we turn a 2D/3D reconstruction problem to a 3D/3D one, whose solutions are well studied. Incorporating this 2D/3D correspondence building method, a 2D/3D reconstruction scheme combining a statistical instantiation with a regularized shape deformation has been developed. Comprehensive experiments on clinical datasets and on images of cadaveric femurs with both non-pathologic and pathologic cases are designed and conducted to evaluate the performance of the 2D/3D correspondence building method as well as that of the 2D/3D reconstruction scheme. Quantitative and qualitative evaluation results are given, which demonstrate the validity of the present method and scheme.
Abstract: Automatic detection and removal of fiducial projections in fluoroscopy images is an essential prerequisite for C-arm calibration. This paper presents an integrated solution to fulfill this task. A custom-designed calibration cage with a two-plane pattern of fiducials is utilized in our solution. The cage is attached to the C-arm image intensifier and acquired images are calibrated automatically by a three-step on-line calibration algorithm including fiducial projection detection, image calibration, and fiducial projection removal. A sequence of carefully designed image processing operations consisting of image binarization, connected-component labeling, region classification, adaptive template matching, and shape analysis, are developed for an accurate and robust localization of fiducial projections. A similarity measure that is proposed previously for image-based 2D-3D registration is employed in the adaptive template matching to improve the detection accuracy. Shape analysis based on the design information of the calibration cage is used to further improve the robustness of the detection. Thin-plate spline based vector transforms are used to correct the image distortion. The detected fiducial projections are then removed by an image inpainting technique based on the fast marching method for level set applications. Our in vitro experiments show on average 4s execution time on a Pentium IV machine, a zero false-detection rate, a miss-detection rate of 1.6+/-2.3%, and a sub-pixel localization error. Using a custom-made tool for checking accuracy, a forward projection error of 1.0+/-0.4 pixels and a backward projection error of 0.3+/-0.1 mm were found. We are confident that our solution is fast, robust, and accurate enough for image-guided interventional applications.
Abstract: The widely used procedure of evaluation of cup orientation following total hip arthroplasty using single standard anteroposterior (AP) radiograph is known inaccurate, largely due to the wide variability in individual pelvic orientation relative to X-ray plate. 2D/3D rigid image registration methods have been introduced for an accurate determination of the post-operative cup alignment with respect to an anatomical reference extracted from the CT data. Although encouraging results have been reported, their extensive usage in clinical routine is still limited. This may be explained by their requirement of a CAD model of the prosthesis, which is often difficult to be organized from the manufacturer due to the proprietary issue, and by their requirement of a pre-operative CT scan, which is not available for most retrospective studies. To address these issues, we developed and validated a statistically deformable 2D/3D registration approach for accurate determination of post-operative cup orientation. No CAD model and pre-operative CT data is required any more. Quantitative and qualitative results evaluated on cadaveric and clinical datasets are given, which indicate the validity of the approach.
Abstract: Accurate extraction of bone contours from two-dimensional (2D) projective X-ray images is an important component for computer-assisted diagnosis, planning or three-dimensional (3D) reconstruction.
Abstract: Twenty-three femurs (one plastic bone and twenty-two cadaver bones) with both nonpathologic and pathologic cases were considered to validate a statistical shape model based technique for three-dimensional (3D) reconstruction of a patient-specific surface model from calibrated x-ray radiographs. The 3D reconstruction technique is based on an iterative nonrigid registration of the features extracted from a statistically instantiated 3D surface model to those interactively identified from the radiographs. The surface models reconstructed from the radiographs were compared to the associated ground truths derived either from a 3D CT-scan reconstruction method or from a 3D laser-scan reconstruction method and an average error distance of 0.95 mm were found. Compared to the existing works, our approach has the advantage of seamlessly handling both nonpathologic and pathologic cases even when the statistical shape model that we used was constructed from surface models of nonpathologic bones.
Abstract: This paper presents a system for 3-D reconstruction of a patient-specific surface model from calibrated X-ray images. Our system requires two X-ray images of a patient with one acquired from the anterior-posterior direction and the other from the axial direction. A custom-designed cage is utilized in our system to calibrate both images. Starting from bone contours that are interactively identified from the X-ray images, our system constructs a patient-specific surface model of the proximal femur based on a statistical model based 2D/3D reconstruction algorithm. In this paper, we present the design and validation of the system with 25 bones. An average reconstruction error of 0.95 mm was observed.
Abstract: One of the most difficult steps in intramedullary nailing of femoral shaft fractures is distal locking – the
insertion of distal transverse interlocking screws, for which it is necessary to know the positions and the
orientations of the distal locking holes of the intramedullary nail (IMN). This paper presents a novel
parameter decomposition based optimization approach for solving this problem using single calibrated
X-ray image. The problem is formulated as a model-based optimal fitting process, where the to-be-optimized
parameters are decomposed into two sets: (a) the angle between the nail axis and its projection in
the imaging plane, and (b) the translation and the rotation of the geometrical models of the distal locking
holes around the nail axis. By using a hybrid optimization technique coupling an evolutionary strategy
and a local search algorithm to find the optimal values of the latter set of parameters for any given value
of the former one, we reduce the multiple-dimensional model-based optimal fitting problem to an onedimensional
search along a finite interval. We report the results of our comprehensive experiments,
which demonstrate that the accuracy of our approach is adequate for successful distal locking of intramedullary
nails.
Abstract: In this paper we present a landmark-based augmented reality (AR) endoscope system for endoscopic paranasal and transnasal surgeries along with fast and automatic calibration and registration procedures for the endoscope.
Abstract: Our goal was to validate accuracy, consistency, and reproducibility/reliability of a new method for determining cup orientation in total hip arthroplasty (THA). This method allows matching the 3D-model from CT images or slices with the projected pelvis on an anteroposterior pelvic radiograph using a fully automated registration procedure. Cup orientation (inclination and anteversion) is calculated relative to the anterior pelvic plane, corrected for individual malposition of the pelvis during radiograph acquisition. Measurements on blinded and randomized radiographs of 80 cadaver and 327 patient hips were investigated. The method showed a mean accuracy of 0.7 +/- 1.7 degrees (-3.7 degrees to 4.0 degrees) for inclination and 1.2 +/- 2.4 degrees (-5.3 degrees to 5.6 degrees) for anteversion in the cadaver trials and 1.7 +/- 1.7 degrees (-4.6 degrees to 5.5 degrees) for inclination and 0.9 +/- 2.8 degrees (-5.2 degrees to 5.7 degrees) for anteversion in the clinical data when compared to CT-based measurements. No systematic errors in accuracy were detected with the Bland-Altman analysis. The software consistency and the reproducibility/reliability were very good. This software is an accurate, consistent, reliable, and reproducible method to measure cup orientation in THA using a sophisticated 2D/3D-matching technique. Its robust and accurate matching algorithm can be expanded to statistical models.
Abstract: In this paper, a novel technique to create a reality-augmented virtual fluoroscopy for computer-assisted diaphyseal long bone fracture osteosynthesis and feasibility study results are presented. With this novel technique, repositioning of bone fragments during closed fracture reduction and osteosynthesis can lead to image updates in the virtual imaging planes of all acquired images without any radiation. The technique is achieved with a two-stage method. After acquiring a few (normally two) calibrated fluoroscopic images and before fracture reduction, the first stage, data preparation, interactively identifies and segments the bone fragments from the background in each image. After that, the second stage, image updates, repositions the fragment projection on to each virtual imaging plane in real time during fracture reduction and osteosynthesis using an OpenGL-based texture warping. Combined with a photorealistic virtual implant model rendering technique, the present technique allows the control of a closed indirect fracture osteosynthesis in the real world through direct insight into the virtual world. The first clinical study results show the reduction in the X-ray radiation to the patient as well as to the surgical team, and the improved operative precision, guaranteeing more safety for the patient. Furthermore, based on the experiences gained from this clinical study, two technical enhancements are proposed. One focuses on eliminating the user interactions with automated identifications and segmentations of bone fragments. The other focuses on providing non-photorealistic implant visualization. Further experiments are performed to validate the effectiveness of the proposed enhancements.
Abstract: It has been recognized that one of the most difficult steps in intramedullary nailing of femoral shaft fractures is the distal locking - the insertion of distal transverse interlocking screws, for which it is necessary to know the positions and orientations of the distal locking holes (DLHs) of the intramedullary nail (IMN). This paper presents a robust and accurate approach for solving this problem based on two calibrated and registered fluoroscopic images. The problem is formulated as a two-stage model-based optimal fitting process. The first stage, nail detection, automatically estimates the axis of the distal part of the IMN (DP-IMN) by iteratively fitting a cylindrical model to the images. The second stage, pose recovery, resolves the translations and the rotations of the DLHs around the estimated axis by iteratively fitting the geometrical models of the DLHs to the images. An iterative best matched projection point (IBMPP) algorithm is combined with random sample strategies to effectively and robustly solve the fitting problems in both stages. We designed and conducted comprehensive experiments to validate the robustness and the accuracy of the present approach. Our in vitro experiments show on average less than 14 s execution time on a Linux machine, a mean angular error of 0.48 degrees (std = 0.21 degrees ), and a mean translational error of 0.09 mm (std = 0.041 mm). We conclude that the present approach is fast, robust, and accurate for distal locking applications.
Abstract: To (1) evaluate and compare computer-assisted surgery (CAS) with conventional screw insertion (conventional osteosynthesis [COS]) for treatment of equine abaxial distal phalanx fractures; (2) compare planned screw position with actual postoperative position; and (3) determine preferred screw insertion direction.
Abstract: Endoscopic or microscopic surgery for chronic rhinosinusitis with or without nasal polyps is a routine intervention in daily practice. It is often a delicate and difficult minimally invasive intervention in a narrow space, with a tunnel view of 4 mm in the case of endoscopy and frequent bleeding in chronically inflamed tissue. Therefore, orientation in such a "labyrinth" is often difficult. In the case of polyp recurrence or tumors, the normal anatomical landmarks are often missing, which renders orientation even more difficult. In such cases, computer-aided navigation together with images such as those from computed tomography or magnetic resonance imaging can support the surgeon to make the operation more accurate and, in some cases, faster. Computer-aided surgery also has great potential for education.
Abstract: The purpose of this study was to validate the accuracy, consistency, and reproducibility/reliability of a new method for correction of pelvic tilt and rotation of radiographic hip parameters for pincer type of femoroacetabular impingement on an anteroposterior pelvic radiograph. Thirty cadaver hips and 100 randomized, blinded AP pelvic radiographs were used for investigation. To detect the software accuracy, the calculated femoral head coverage and classic hip parameters determined with our software were compared to reference measurements based on CT scans or conventional radiographs in a neutral orientation as gold standard. To investigate software consistency, differences among the different parameters for each cadaver pelvis were calculated when reckoned back from a random to the neutral orientation. Intra- and interobserver comparisons were used to analyze the reliability and reproducibility of all parameters. All but two parameters showed a good-to-very good accuracy with the reference measurements. No relevant systematic errors were detected in the Bland-Altman analysis. Software consistency was good-to-very good for all parameters. A good-to-very good reliability and reproducibility was found for a substantial number of the evaluated radiographic acetabular parameters. The software appears to be an accurate, consistent, reliable, and reproducible method for analysis of acetabular pathomorphologies.
Abstract: This paper addresses the problem of estimating the 3D rigid pose of a CT volume of an object from its 2D X-ray projections. We use maximization of mutual information, an accurate similarity measure for multi-modal and mono-modal image registration tasks. However, it is known that the standard mutual information measure only takes intensity values into account without considering spatial information and its robustness is questionable. In this paper, instead of directly maximizing mutual information, we propose to use a variational approximation derived from the Kullback-Leibler bound. Spatial information is then incorporated into this variational approximation using a Markov random field model. The newly derived similarity measure has a least-squares form and can be effectively minimized by a multi-resolution Levenberg-Marquardt optimizer. Experimental results are presented on X-ray and CT datasets of a plastic phantom and a cadaveric spine segment.
Abstract: During endoscopic surgery, it is difficult to ascertain the anatomical landmarks once the anatomy is fiddled with or if the operating area is filled with blood. An augmented reality system will enhance the endoscopic view and further enable surgeons to view hidden critical structures or the results of preoperative planning.
Abstract: Long bone fracture belongs to one of the most common injuries encountered in clinical routine trauma surgery. Automated identification, pose and size estimation, and contour extraction of diaphyseal bone fragments can greatly improve the usability of a computer-assisted, fluoroscopy-based navigation system for long bone fracture reduction. In this paper, a two-step solution is proposed. In the first step, the pose and size of a diaphyseal fragment are estimated through a three-dimensional (3D) morphable object-based fitting process using a parametric cylinder model. This fitting process is optimally solved by a hybrid optimization technique coupling a random sample consensus (RANSAC) paradigm and an iterative closest point (ICP) matching procedure. Monte Carlo simulation was used to determine the parameters for the RANSAC paradigm. The results of the fragment detection step are then fed to the second step, where a region information based active contour model is used to extract the fragment contours. We designed and conducted experiments to quantify the accuracy and robustness of the proposed approach. Our experimental results conducted on images of a plastic bone as well as on those of patients demonstrate a promising accuracy and robustness of the proposed approach.
Abstract: A comprehensive study was performed to evaluate the accuracy of a newly developed CT-free, intra-operative planning and navigation system for anterior spine surgery.
Abstract: We developed an object-oriented cross-platform program to perform three-dimensional (3D) analysis of hip joint morphology using two-dimensional (2D) anteroposterior (AP) pelvic radiographs. Landmarks extracted from 2D AP pelvic radiographs and optionally an additional lateral pelvic X-ray were combined with a cone beam projection model to reconstruct 3D hip joints. Since individual pelvic orientation can vary considerably, a method for standardizing pelvic orientation was implemented to determine the absolute tilt/rotation. The evaluation of anatomically morphologic differences was achieved by reconstructing the projected acetabular rim and the measured hip parameters as if obtained in a standardized neutral orientation. The program had been successfully used to interactively objectify acetabular version in hips with femoro-acetabular impingement or developmental dysplasia. Hip(2)Norm is written in object-oriented programming language C++ using cross-platform software Qt (TrollTech, Oslo, Norway) for graphical user interface (GUI) and is transportable to any platform.
Abstract: A majority of pre-operative planning and navigational guidance during computer assisted orthopaedic surgery routinely uses three-dimensional models of patient anatomy. These models enhance the surgeon's capability to decrease the invasiveness of surgical procedures and increase their accuracy and safety. A common approach for this is to use computed tomography (CT) or magnetic resonance imaging (MRI). These have the disadvantages that they are expensive and/or induce radiation to the patient. In this paper we propose a novel method to construct a patient-specific three-dimensional model that provides an appropriate intra-operative visualization without the need for a pre or intra-operative imaging. The 3D model is reconstructed by fitting a statistical deformable model to minimal sparse 3D data consisting of digitized landmarks and surface points that are obtained intra-operatively. The statistical model is constructed using Principal Component Analysis from training objects. Our deformation scheme efficiently and accurately computes a Mahalanobis distance weighted least square fit of the deformable model to the 3D data. Relaxing the Mahalanobis distance term as additional points are incorporated enables our method to handle small and large sets of digitized points efficiently. Formalizing the problem as a linear equation system helps us to provide real-time updates to the surgeons. Incorporation of M-estimator based weighting of the digitized points enables us to effectively reject outliers and compute stable models. We present here our evaluation results using leave-one-out experiments and extended validation of our method on nine dry cadaver bones.
Abstract: One of the difficult steps in intra-medullary nailing of femoral shaft fractures is distal locking - the insertion of distal interlocking screws. Conventionally, this is performed using repeated image acquisitions, which leads to considerable irradiation of the patient and surgical team. Virtual fluoroscopy has been used to reduce radiation exposure, but can only provide multi-planar two-dimensional projection views. In this study, two calibrated fluoroscopic images were used to automatically recover the positions and orientations of the distal locking holes (DLHs). The ultimate goal is to provide precise three-dimensional guidance during distal locking.
Abstract: Constructing a 3-D surface model from sparse-point data is a nontrivial task. Here, we report an accurate and robust approach for reconstructing a surface model of the proximal femur from sparse-point data and a dense-point distribution model (DPDM). The problem is formulated as a three-stage optimal estimation process. The first stage, affine registration, is to iteratively estimate a scale and a rigid transformation between the mean surface model of the DPDM and the sparse input points. The estimation results of the first stage are used to establish point correspondences for the second stage, statistical instantiation, which stably instantiates a surface model from the DPDM using a statistical approach. This surface model is then fed to the third stage, kernel-based deformation, which further refines the surface model. Handling outliers is achieved by consistently employing the least trimmed squares (LTS) approach with a roughly estimated outlier rate in all three stages. If an optimal value of the outlier rate is preferred, we propose a hypothesis testing procedure to automatically estimate it. We present here our validations using four experiments, which include 1) leave-one-out experiment, 2) experiment on evaluating the present approach for handling pathology, 3) experiment on evaluating the present approach for handling outliers, and 4) experiment on reconstructing surface models of seven dry cadaver femurs using clinically relevant data without noise and with noise added. Our validation results demonstrate the robust performance of the present approach in handling outliers, pathology, and noise. An average 95-percentile error of 1.7-2.3 mm was found when the present approach was used to reconstruct surface models of the cadaver femurs from sparse-point data with noise added.
Abstract: This paper addresses the problem of estimating postoperative cup alignment from single standard X-ray radiograph with gonadal shielding. The widely used procedure of evaluation of cup orientation following total hip arthroplasty using single standard anteroposterior radiograph is known inaccurate, largely due to the wide variability in individual pelvic position relative to X-ray plate. 2D-3D image registration methods have been introduced to estimate the rigid transformation between a preoperative CT volume and postoperative radiograph(s) for an accurate estimation of the postoperative cup alignment relative to an anatomical reference extracted from the CT data. However, these methods require either multiple radiographs or a radiograph-specific calibration, both of which are not avaiable for most retrospective studies. Furthermore, these methods were only evaluated on X-ray radiograph(s) without gonadal shielding. In this paper, we propose to use a hybrid 2D-3D registration scheme combining an iterative landmark-to-ray registration with a 2D-3D intensity-based registration to estimate the rigid transfromation for a precise estimation of cup alignment. Quantitative and qualitative results evaluated on clinical and cadaveric datasets are given which indicate the validity of our approach.
Abstract: In this paper, we present an unsupervised 2D/3D reconstruction scheme combining a parameterized multiple-component geometrical model and a point distribution model, and show its application to automatically reconstruct a surface model of a proximal femur from a limited number of calibrated fluoroscopic images with no user intervention at all. The parameterized multiple-component geometrical model is regarded as a simplified description capturing the geometrical features of a proximal femur. Its parameters are optimally and automatically estimated from the input images using a particle filter based inference method. The estimated geometrical parameters are then used to initialize a point distribution model based 2D/3D reconstruction scheme for an accurate reconstruction of a surface model of the proximal femur. We designed and conducted in vitro and in vivo experiments to compare the present unsupervised reconstruction scheme to a supervised one. An average mean error of 1.2 mm was found when the supervised reconstruction scheme was used. It increased to 1.3 mm when the unsupervised one was used. However, the unsupervised reconstruction scheme has the advantage of elimination of user intervention, which holds the potential to facilitate the application of the 2D/3D reconstruction in surgical navigation.
Abstract: This paper presents a novel technique to create a computerized fluoroscopy with zero-dose image updates for computer-assisted fluoroscopy-based close reduction and osteosynthesis of diaphyseal fracture of femurs. With the novel technique, repositioning of bone fragments during close fracture reduction will lead to image updates in each acquired imaging plane, which is equivalent to using several fluoroscopes simultaneously from different directions but without any X-ray radiation. Its application facilitates the whole fracture reduction and osteosynthesis procedure when combining with the existing leg length and antetorsion restoration methods and may result in great reduction of the X-ray radiation to the patient and to the surgical team. In this paper, we present the approach for achieving such a technique and the experimental results with plastic bones.
Abstract: High tibial osteotomy (HTO) is an established therapy for the treatment of symptomatic varus malaligned knees. A main reason for disappointing clinical results after HTO is the under- and overcorrection of the mechanical axis due to insufficient intraoperative visualisation. Twenty legs of fresh human cadaver were randomly assigned to navigated open-wedge HTO (n=10) or conventional HTO using the cable method (n=10). Regardless of the pre-existing alignment, the aim of all operations was to align the mechanical axis to pass through 80% of the tibial plateau (beginning with 0% at the medial edge of the tibial plateau and ending with 100% at the lateral edge). This overcorrection was chosen to ensure a sufficient amount of correction. Thus, the medial proximal tibia angle (MPTA) increased by 9.1+/-2.9 degrees (range 5.2 degrees -12.3 degrees ) on the average after navigated HTO and by 8.9+/-2.9 degrees (range 4.7 degrees -12.6 degrees ) after conventional HTO. After stabilization with a fixed angle implant, the alignment was measured by CT. After navigated HTO, the mechanical axis passed the tibial plateau through 79.7% (range 75.5-85.8%). In contrast, after conventional HTO, the average intersection of the mechanical axis was at 72.1% (range 60.4-82.4%) (P=0.020). Additionally, the variability of the mean corrections was significantly lower in the navigated group (3.3% vs. 7.2%, P=0.012). Total fluoroscopic radiation time was significantly lower in the navigated group (P=0.038) whereas the mean dose area product was not significantly different (P=0.231). The time of the operative procedure was 23 min shorter after conventional HTO (P<0.001). Navigation systems provide intraoperative 3-dimensional real time control of the frontal, sagittal, and transverse axis and may increase the accuracy of open-wedge HTO. Future studies have to analyse the clinical effects of navigation on corrective osteotomies.
Abstract: Reconstruction of patient-specific 3D bone surface from 2D calibrated fluoroscopic images and a point distribution model is discussed. We present a 2D/3D reconstruction scheme combining statistical extrapolation and regularized shape deformation with an iterative image-to-model correspondence establishing algorithm, and show its application to reconstruct the surface of proximal femur. The image-to-model correspondence is established using a non-rigid 2D point matching process, which iteratively uses a symmetric injective nearest-neighbor mapping operator and 2D thin-plate splines based deformation to find a fraction of best matched 2D point pairs between features detected from the fluoroscopic images and those extracted from the 3D model. The obtained 2D point pairs are then used to set up a set of 3D point pairs such that we turn a 2D/3D reconstruction problem to a 3D/3D one. We designed and conducted experiments on 11 cadaveric femurs to validate the present reconstruction scheme. An average mean reconstruction error of 1.2 mm was found when two fluoroscopic images were used for each bone. It decreased to 1.0 mm when three fluoroscopic images were used.
Abstract: To design and evaluate a novel computer-assisted, fluoroscopy-based planning and navigation system for minimally invasive ventral spondylodesis of thoracolumbar fractures.
Abstract: 2D-3D registration of pre-operative 3D volumetric data with a series of calibrated and undistorted intra-operative 2D projection images has shown great potential in CT-based surgical navigation because it obviates the invasive procedure of the conventional registration methods. In this study, a recently introduced spline-based multi-resolution 2D-3D image registration algorithm has been adapted together with a novel least-squares normalized pattern intensity (LSNPI) similarity measure for image guided minimally invasive spine surgery. A phantom and a cadaver together with their respective ground truths were specially designed to experimentally assess possible factors that may affect the robustness, accuracy, or efficiency of the registration. Our experiments have shown that it is feasible for the assessed 2D-3D registration algorithm to achieve sub-millimeter accuracy in a realistic setup in less than one minute.
Abstract: Anteroposterior pelvic radiographs are the gold standard of imaging for mechanical hip problems. However, correct interpretation is difficult because the projected morphologic features of the acetabulum and nearly all routinely used hip parameters depend on individual pelvic position, which can vary considerably during acquisition. We developed software that recreates the projected acetabular rim and the measured hip parameters as if obtained in a standardized orientation. The vertical and horizontal distances between two easy identifiable points were used as indicators of tilt and rotation. These points were the middle of the sacrococcygeal joint and the middle of the upper border of the symphyseal gap. Calibration of the indicators was achieved by means of serial pelvic radiographs of 20 cadaver pelves. Validation of tilt indicator in 100 patients and a theoretical error analysis revealed that for accurate tilt prediction an additional one-time lateral radiograph of the pelvis is mandatory. The computer-assisted method allows standardized evaluation of anatomic morphologic differences of femoral coverage (dysplasia, retroversion), making their clinical relevance for development of early osteoarthritis more valuable.
Abstract: Fluoroscopy is the most common tool for the intraoperative control of long-bone fracture reduction. Limitations of this technology include high radiation exposure for the patient and the surgical team, limited visual field, distorted images, and cumbersome verification of image updating. Fluoroscopy-based navigation systems partially address these limitations by allowing fluoroscopic images to be used for real-time surgical localization and instrument tracking. Existing fluoroscopy-based navigation systems are still limited as far as the virtual representation of true surgical reality is concerned. This article, for the first time, presents a reality-enhanced virtual fluoroscopy with radiation-free updates of in situ surgical fluoroscopic images to control metaphyseal fracture reduction. A virtual fluoroscopy is created using the projection properties of the fluoroscope; it allows the display of detailed three-dimensional (3D) geometric models of surgical tools and implants superimposed on the X-ray images. Starting from multiple registered fluoroscopy images, a virtual 3D cylinder model for each principal bone fragment is constructed. This spatial cylinder model not only supplies a 3D image of the fracture, but also allows effective fragment projection recovery from the fluoroscopic images and enables radiation-free updates of in situ surgical fluoroscopic images by non-linear interpolation and warping algorithms. Initial clinical experience was gained during four tibia fracture fixations that were treated by LISS (Less Invasive Stabilization System) osteosynthesis. In the cases operated on, after primary image acquisition, the image intensifier was replaced by the virtual reality system. In all cases, the procedure including fracture reduction and LISS osteosynthesis was performed entirely in virtual reality. A significant disadvantage was the unfamiliar operation of this prototype software and the need for an additional operator for the navigation system.
Abstract: Accurate intraoperative assessment of lower limb alignment is crucial for the treatment of long bone fractures, implantation of knee arthroplasties and correction of deformities. During orthopaedic surgery, exact real time control of the mechanical axis is strongly desirable. The aim of this study was to compare conventional intraoperative analysis of the mechanical axis by the cable method with continuous, 3-dimensional imaging with a navigation system.
Abstract: The objectives of this study are to design and evaluate a CT-free intra-operative planning and navigation system for high tibial opening wedge osteotomy. This is a widely accepted treatment for medial compartment osteoarthritis and other lower extremity deformities, particularly in young and active patients for whom total knee replacement is not advised. However, it is a technically demanding procedure. Conventional preoperative planning and surgical techniques have so far been inaccurate, and often resulting in postoperative malalignment representing either under- or over-correction, which is the main reason for poor long-term results. In addition, conventional techniques have the potential to damage the lateral hinge cortex and tibial neurovascular structures, which may cause fixation failure, loss of correction, or peroneal nerve paralysis. All these common problems can be addressed by the use of a surgical navigation system.
Abstract: Computer-Assisted Orthopaedic Surgery (CAOS) has made much progress over the last 10 years. Navigation systems have been recognized as important tools that help surgeons, and various such systems have been developed. A disadvantage of these systems is that they use non-standard formalisms and techniques. As a result, there are no standard concepts for implant and tool management or data formats to store information for use in 3D planning and navigation. We addressed these limitations and developed a practical and generic solution that offers benefits for surgeons, implant manufacturers, and CAS application developers. We developed a virtual implant database containing geometrical as well as calibration information for orthopedic implants and instruments, with a focus on trauma. This database has been successfully tested for various applications in the client/server mode. The implant information is not static, however, because manufacturers periodically revise their implants, resulting in the deletion of some implants and the introduction of new ones. Tracking these continuous changes and keeping CAS systems up to date is a tedious task if done manually. This leads to additional costs for system development, and some errors are inevitably generated due to the huge amount of information that has to be processed. To ease management with respect to implant life cycle, we developed a tool to assist end-users (surgeons, hospitals, CAS system providers, and implant manufacturers) in managing their implants. Our system can be used for pre-operative planning and intra-operative navigation, and also for any surgical simulation involving orthopedic implants. Currently, this tool allows addition of new implants, modification of existing ones, deletion of obsolete implants, export of a given implant, and also creation of backups. Our implant management system has been successfully tested in the laboratory with very promising results. It makes it possible to fill the current gap that exists between the CAS system and implant manufacturers, hospitals, and surgeons.
Abstract: The availability of high-resolution, magnified, and relatively noise-free endoscopic images in a small workspace, 4-10 cm from the endoscope tip, opens up the possibility of using the endoscope as a tracking tool. We are developing a hybrid navigation system in which image-analysis-based 2D-3D tracking is combined with optoelectronic tracking (Optotrak) for computer-assisted navigation in laparoscopic ventral spine surgeries. Initial results are encouraging and confirm the ability of the endoscope to serve as a tracking tool in surgical navigation where sub-millimetric accuracy is mandatory.
Abstract: High tibial osteotomy is a widely accepted treatment for unicompartmental osteoarthritis of the knee and other lower extremity deformities, particularly in young and active patients. However, it is generally recognized as a technically demanding procedure. The lack of intraoperative control of the mechanical axis of the affected limb often results in postoperative malalignments, which is one of the main reasons for poor long-term results. Moreover, inaccurate osteotomies, such as insufficient or excessive bone cut, or incorrect orientation of the chisel or saw blade, have been observed. A computer assisted intraoperative planning and navigation system is therefore proposed in order to address these technical problems. During operation, fluoroscopic images are acquired and anatomical landmarks are digitized; a patient-specific coordinate system is established accordingly. After the three-dimensional measurement of the deformity and interactive planning of the osteotomy plane, the deformity is corrected under navigational guidance. The proposed system has been successfully introduced into the clinical practice of surgery after encouraging laboratory evaluations, with results affirming that it is safe and accurate.
Abstract: Reduction is one of the key procedures in orthopedic trauma surgery and has been acknowledged as one of the conditions for a good outcome in intraarticular and extra-articular fractures. The information available to the surgeon during the reduction maneuver can be divided into visual and tactile information. The optimal implementation of these parameters, combined with the surgeon's individual experience, will significantly affect the results of the operation. Anatomical regions where a limited direct view through the approach is supported by intraoperative imaging are intra-articular fractures of the elbow, forearm, acetabulum, proximal tibia, pilon, and hindfoot, and extra-articular fractures of the spine, pelvis, femur, and tibial shaft. Surgery in these regions is demanding since the approaches limit the visual control of the axes and also the anatomical reduction within the joint. Computer aided orthopedic surgery (CAOS) was introduced to increase the accuracy of selected procedures in orthopedic surgery. One of the most frequently applied applications is pedicle screw insertion in posterior spinal surgery. The current working group has identified computer aided reduction and implant positioning as an unresolved area of CAOS that would be highly relevant to the operative treatment of fractures. The development of tools for computer aided reduction is of major importance and is much desired by the orthopedic community. Such a reduction tool would be a significant step forward in the development of orthopedic trauma care. It would facilitate new procedures and new operations and also help to attain a completely new level with regard to what we can achieve in terms of minimal invasiveness and increased precision. The synergies of the expert group are deployed to develop the required software modules and hardware. Other areas of computer aided orthopedic surgery will certainly benefit from the integration of this technology as well.
Abstract: After experimental and preclinical evaluation of a CT-free image guided surgical navigation system for acetabular cup placement, the system was introduced into clinical routine. The computation of the angular orientation of the cup is based on reference coordinates from the anterior pelvic plane concept. A hybrid strategy for pelvic landmark acquisition has been introduced, involving percutaneous pointer-based digitization with the noninvasive bi-planar landmark reconstruction using multiple registered fluoroscopy images. From January 2001 to October 2003, a total of 236 consecutive patients (mean age 66 years, 144 male, 92 female, 124 left and 112 right hip joints) were operated on with the hybrid CT-free navigation system. During each operation, the angular orientation of the inserted implant was recorded. To determine the placement accuracy of the acetabular components, the first 50 consecutive patients underwent a CT scan 7-10 days postoperatively to analyze the cup position relative to the anterior pelvic plane. This procedure was done blinded and with commercial planning software. There was no significant learning curve observed for the use of the system. Mean values for postoperative inclination read 42 degrees (SD 3.6, range (37-49)) and anteversion 21 degrees (SD 3.9, range (10-28)). The resulting system accuracy, ie, the difference between intraoperatively calculated cup orientation and postoperatively measured implant position shows a maximum error of 5 degrees for the inclination (mean 1.5 degrees, SD 1.1) and 6 degrees for the anteversion (mean 2.4 degrees, SD 1.3). An accuracy of better than 5 degrees inclination and 6 degrees anteversion was achieved under clinical conditions, which implies that there is no significant difference in performance from the established CT-based navigation methods. Image-guided CT-free cup navigation provides a reliable solution for future total hip arthroplasty (THA).
Abstract: High tibial osteotomy is a widely accepted treatment of medial compartment osteoarthritis as well as other lower extremity deformities. However, it is a technically demanding procedure. The lack of exact intraoperative real time control of the mechanical axis often results in postoperative malalignments, which is one reason for poor long term results. These problems can be addressed with the use of a surgical navigation system. Following exposure, dynamic reference bases (DRBs) are attached to the femur, and the proximal and the distal part of the tibia. After intraoperative measurement of the deformities and correction planning, the osteotomy is performed under navigational guidance. The wedge size, joint line orientation, and tibial plateau slope are monitored during correction. The in vitro evaluation with a plastic bone model suggests that the error of deformity correction is less than 1.7 degrees (95% confidence limits) in the frontal, and less than 2.3 degrees (95% confidence limits) in the sagittal plane, respectively. On a cadaver study of 13 legs, the mechanical axis intersected the Fujisawa line in 80.7% (range 77.5-85.8%). The preliminary clinical experience confirms these results. A novel computer tomography free navigation system for high tibial osteotomy has been developed that holds the promise of improving the accuracy, reliability, and safety of this kind of approach.
Abstract: After experimental and preclinical evaluation (HAP Paul Award 2001) of a CT-free image-guided surgical navigation system for acetabular cup placement, the system was introduced into clinical routine. The computation of the angular orientation of the cup is based on reference coordinates from the anterior pelvic plane (APP) concept. A hybrid strategy for pelvic landmark acquisition has been introduced involving percutaneous pointer-based digitization with the noninvasive biplanar landmark reconstruction using multiple registered fluoroscopy images. From January 2001 to May 2002, 118 consecutive patients (mean age 68 years, 82 male, 36 female, and 62 left and 56 right hip joints) were operated on with the hybrid CT-free navigation system. During each operation, the angular orientation of the inserted implant was recorded. To determine the placement accuracy of the acetabular components, the first 50 consecutive patients underwent a CT scan 7-10 days postoperatively to analyze the cup position relative to the APP. This was done blinded with commercial planning software. There was no significant learning curve observed for the use of the system. Mean values for postoperative inclination read 43 degrees (SD 3.0, range 37-49) and anteversion 19 degrees (SD 3.9, range 10-28). The resulting system accuracy, i.e., the difference between intraoperatively calculated cup orientation and postoperatively measured implant position, shows a maximum error of 5 degrees for the inclination (mean 1.5 degrees, SD 1.1) and 6 degrees for the anteversion (mean 2.4 degrees, SD 1.3). An accuracy of better than 5 degrees inclination and 6 degrees anteversion was achieved under clinical conditions, which implies that there is no significant difference in performance from the established CT-based navigation methods. Image-guided CT-free cup navigation provides a reliable solution for future total hip arthroplasty (THA).
Abstract: To design and evaluate a novel CT-free image-guided surgical navigation system for assisting placement of both acetabular and femoral components in total hip arthroplasty (THA).
Abstract: To integrate a digitally controlled operating microscope without a laser autofocus system into a frameless optical computer-aided surgery system and to test the accuracy and usability of this system in otorhinological surgery.
