Abstract: We propose a computationally efficient, bio-mechanically relevant soft-tissue simulation method for cranio-maxillofacial (CMF) surgery. Special emphasis is given to comply with the current clinical workflow. A template-based facial muscle prediction was introduced to avoid laborious segmentation from medical images. In addition, transversely isotropic mass-tensor model (MTM) was applied to realize the directional behavior of facial muscles in short computation time. Finally, sliding contact was incorporated to mimic realistic boundary condition in error-sensitive regions. Mechanical simulation result was compared with commercial finite element software. And retrospective validation study with post-operative scan of four CMF cases was performed.
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: 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: Cranioplasty is a commonly performed procedure. Outcomes can be improved by the use of patient specific implants, however, high costs limit their accessibility. This paper presents a low cost alternative technique to create patient specific polymethylmethacrylate (PMMA) implants using rapid prototyped mold template. We used available patient's CT-scans, one dataset without craniotomy and one with craniotomy, for computer-assisted design of a 3D mold template, which itself can be brought into the operating room and be used for fast and easy building of a PMMA implant. We applied our solution to three patients with positive outcomes and no complications.
Abstract: Objective:To present the auditory implant manipulator, a navigation-controlled mechanical and electronic system which enables minimally invasive ('keyhole') transmastoid access to the tympanic cavity.Materials and methods:The auditory implant manipulator is a miniaturised robotic system with five axes of movement and an integrated drill. It can be mounted on the operating table. We evaluated the surgical work field provided by the system, and the work sequence involved, using an anatomical whole head specimen.Results:The work field provided by the auditory implant manipulator is considerably greater than required for conventional mastoidectomy. The work sequence for a keyhole procedure included pre-operative planning, arrangement of equipment, the procedure itself and post-operative analysis.Conclusion:Although system improvements are necessary, our preliminary results indicate that the auditory implant manipulator has the potential to perform keyhole insertion of implantable hearing devices.
Abstract: We propose a computationally efficient and bio-mechanically relevant soft-tissue simulation method for cranio-maxillofacial (CMF) surgery. A template-based facial muscle reconstruction was introduced to minimize the efforts on preparing a patient-specific model. A transversely isotropic mass-tensor model (MTM) was adopted to realize the effect of directional property of facial muscles in reasonable computation time. Additionally, sliding contact around teeth and mucosa was considered for more realistic simulation. Retrospective validation study with postoperative scan of a real patient showed that there were considerable improvements in simulation accuracy by incorporating template-based facial muscle anatomy and sliding contact.
Abstract: Percutaneous nephrolithotomy (PCNL) for the treatment of renal stones and other related renal diseases has proved its efficacy and has stood the test of time compared with open surgical methods and extracorporeal shock wave lithotripsy. However, access to the collecting system of the kidney is not easy because the available intra-operative image modalities only provide a two dimensional view of the surgical scenario. With this lack of visual information, several punctures are often necessary which, increases the risk of renal bleeding, splanchnic, vascular or pulmonary injury, or damage to the collecting system which sometimes makes the continuation of the procedure impossible. In order to address this problem, this paper proposes a workflow for introduction of a stereotactic needle guidance system for PCNL procedures. An analysis of the imposed clinical requirements, and a instrument guidance approach to provide the physician with a more intuitive planning and visual guidance to access the collecting system of the kidney are presented.
Abstract: The delicate anatomy of the ear require surgeons to use great care when operating on its internal structures. One example for such an intervention is the stapedectomy, where a small crook shaped piston is placed in the oval window of the cochlea and connected to the incus through crimping thus bypassing the diseased stapes. Performing the crimp process with the correct force is necessary since loose crimps poorly transmit sound whereas tight crimps will eventually result in necrosis of the incus. Clinically, demand is high to reproducibly conduct the crimp process through a precise force measurement. For this reason, we have developed a fiber Bragg grating (FBG) integrated microforceps for use in such interventions. This device was calibrated, and tested in cadaver preparations. With this instrument we were able to measure for the first time forces involved in crimping a stapes prosthesis to the incus. We also discuss a method of attaching and actuating such forceps in conjunction with a robot currently under development in our group. Each component of this system can be used separately or combined to improve surgical accuracy, confidence and outcome.
Abstract: PET/CT guidance for percutaneous interventions allows biopsy of suspicious metabolically active bone lesions even when no morphological correlation is delineable in the CT images. Clinical use of PET/CT guidance with conventional step-by-step technique is time consuming and complicated especially in cases in which the target lesion is not shown in the CT image. Our recently developed multimodal instrument guidance system (IGS) for PET/CT improved this situation. Nevertheless, bone biopsies even with IGS have a trade-off between precision and intervention duration which is proportional to patient and personnel exposure to radiation. As image acquisition and reconstruction of PET may take up to 10 minutes, preferably only one time consuming combined PET/CT acquisition should be needed during an intervention. In case of required additional control images in order to check for possible patient movements/deformations, or to verify the final needle position in the target, only fast CT acquisitions should be performed. However, for precise instrument guidance accounting for patient movement and/or deformation without having a control PET image, it is essential to be able to transfer the position of the target as identified in the original PET/CT to a changed situation as shown in the control CT.
Abstract: This paper presents an automated solution for precise detection of fiducial screws from three-dimensional (3D) Computerized Tomography (CT)/Digital Volume Tomography (DVT) data for image-guided ENT surgery. Unlike previously published solutions, we regard the detection of the fiducial screws from the CT/DVT volume data as a pose estimation problem. We thus developed a model-based solution. Starting from a user-supplied initialization, our solution detects the fiducial screws by iteratively matching a computer aided design (CAD) model of the fiducial screw to features extracted from the CT/DVT data. We validated our solution on one conventional CT dataset and on five DVT volume datasets, resulting in a total detection of 24 fiducial screws. Our experimental results indicate that the proposed solution achieves much higher reproducibility and precision than the manual detection. Further comparison shows that the proposed solution produces better results on the DVT dataset than on the conventional CT dataset.
Abstract: Accurate three-dimensional (3D) models of lumbar vertebrae can enable image-based 3D kinematic analysis. The common approach to derive 3D models is by direct segmentation of CT or MRI datasets. However, these have the disadvantages that they are expensive, time-consuming and/or induce high-radiation doses to the patient. In this paper, we present a technique 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 (totally twelve lumbar vertebrae) were used to validate the technique. To evaluate the reconstruction accuracy, the surface models reconstructed from the lateral fluoroscopic images were compared to the associated ground truth data derived from a 3D CT-scan reconstruction technique. For each case, a surface-based matching was first used to recover the scale and the rigid transformation between the reconstructed surface models and the ground truth model before the distances between the two discrete surface models were computed. An average error of 1.0 mm was found when the present technique was used to reconstruct the surface models of all twelve lumbar vertebrae.
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: Computer-aided microscopic surgery of the lateral skull base is a rare intervention in daily practice. It is often a delicate and difficult minimally invasive intervention, since orientation between the petrous bone and the petrous bone apex is often challenging. In the case of aural atresia or tumors the normal anatomical landmarks are often absent, making orientation more difficult. Navigation support, together with imaging techniques such as CT, MR and angiography, enable the surgeon in such cases to perform the operation more accurately and, in some cases, also in a shorter time. However, there are no internationally standardised indications for navigated surgery on the lateral skull base. Miniaturised robotic systems are still in the initial validation phase.
Abstract: Computer-aided surgery (CAS) allows for real-time intraoperative feedback resulting in increased accuracy, while reducing intraoperative radiation. CAS is especially useful for the treatment of certain pelvic ring fractures, which necessitate the precise placement of screws. Flouroscopy-based CAS modules have been developed for many orthopedic applications. The integration of the isocentric flouroscope even enables navigation using intraoperatively acquired three-dimensional (3D) data, though the scan volume and imaging quality are limited. Complicated and comprehensive pathologies in regions like the pelvis can necessitate a CT-based navigation system because of its larger field of view. To be accurate, the patient's anatomy must be registered and matched with the virtual object (CT data). The actual precision within the region of interest depends on the area of the bone where surface matching is performed. Conventional surface matching with a solid pointer requires extensive soft tissue dissection. This contradicts the primary purpose of CAS as a minimally invasive alternative to conventional surgical techniques. We therefore integrated an a-mode ultrasound pointer into the process of surface matching for pelvic surgery and compared it to the conventional method. Accuracy measurements were made in two pelvic models: a foam model submerged in water and one with attached porcine muscle tissue. Three different tissue depths were selected based on CT scans of 30 human pelves. The ultrasound pointer allowed for registration of virtually any point on the pelvis. This method of surface matching could be successfully integrated into CAS of the pelvis.
Abstract: According to the literature, differences in torsion of 15 degrees and more develop in 20-30% of cases after intramedullary nailing of femoral shaft fractures. A computer-assisted method makes it possible to determine the antetorsion angle during surgery. In this experimental study, the precision of the measurements obtained with the navigation system were checked with a femur model and compared with a CT reference method. The measurements are carried out on a femur model that is equipped with a rotation device in the middle of the shaft. Nine reproducible angles can be set. Two investigators each conduct the measurements of the antetorsion angle ten times. A comparison is drawn between the absolute values of the antetorsion angle measured and the difference values of the adjoining positions. When comparing the absolute values of the navigation and reference systems, the mean deviations of both methods are around 1 degrees (0.35; 1.75) and comparing the differences 0.5 degrees (-0.2; 1.17). The maximum deviation of the absolute values of the CT reference method amounts to 6.4 degrees . Under experimental conditions, measurement of the femoral antetorsion angle proved to be sufficiently precise for clinical specifications in comparison to a CT reference method.
Abstract: Surgical navigation has proven to be a minimally invasive procedure that enables precise surgical interventions with reduced exposure to irradiation for patient and personnel. Fluoroscopy-based modules have prevailed on the market. For certain operations of the pelvis computed tomography is necessary with its high imaging quality and considerably larger scan volume. To enable navigation in these cases, matching of the CT data set and the patient's real pelvic bone is essential. The common pair point-matching algorithm is complemented by the surface-matching algorithm to achieve an even higher overall precision of the system. For conventional surface matching with a solid pointer, the bone has to be exposed from soft tissue quite extensively, using a solid pointer. This conflicts with the claim of computer-assisted surgery to be minimally invasive. We integrated an A-mode ultrasonic pointer with the intention to perform extended surface matching on the pelvic bone noninvasively. Related to the conventional method, comparable and to some extent even improved precision conditions could be established.
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: Displaced acetabular fractures are best treated with open reduction to achieve anatomic reduction and maximize the chance of a good functional outcome. Because of the anatomic complexity and often limited visualization, fracture reduction can be difficult. Virtual planning software can allow the surgeon to understand the fracture morphology and to rehearse reduction maneuvers. The purpose of this study was to determine the effect of a novel virtual fracture reduction module on time and accuracy of reduction. Four acetabular fracture patterns were created in synthetic pelves, which were implanted with fiducial markers and were registered with CT scan. Ten surgeons used virtual fracture reduction software or conventional 2D planning methods and immediately reduced the fractures blindly in a viscous gel medium. 3D imaging was again performed and the accuracy of reduction was assessed. The average malreduction was significantly improved following planning with the virtual software compared to the standard technique. The time taken for reduction was also significantly less for two of the four fracture patterns. Virtual software may be useful for visualizing and planning treatment of fractures of the acetabulum, potentially leading to more accurate and efficient reductions, and may also be an effective educational tool.
Abstract: In the past ten years, a variety of computer-assisted surgical technologies have been introduced for total hip replacement (THR). Despite the different approaches, orthopedic surgeons routinely still acquire 2D X-ray radiographs for preoperative diagnostic and templating purposes. Such images provide detailed information in high resolution about the underlying anatomy. But lack of knowledge about the magnification factor of the bony structures complicates the correct interpretation of the real anatomy and therefore could lead to mismatching implants intraoperatively based on the preoperative performed planning. Therefore we developed a calibration device, which can be mounted within the usual clinical environment and allows to improve the accuracy of conventional radiographs by applying a specific calibration algorithm. Furthermore, we investigated the feasibility of reconstructing the surface of the proximal femur on the basis of two calibrated X-ray radiographs. The accuracy of this approach has been thoroughly validated using 14 dry cadaver femur bones (pathological as well as non-pathological cases), one plastic femur bone and one wet cadaver pelvis.
Abstract: Computer-assisted graft implantation may contribute to achieving biological joint replacement in the future. The purpose of this experimental study was to evaluate the feasibility and accuracy of a series of computer-assisted graft implantations into human cadaver ankle joints.
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: 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: Our self-developed planning and navigation system has proven its capacity for accurate surgery on the anterior and lateral skull base. With the incorporation of augmented reality, image-guided surgery will evolve into 'information-guided surgery'.
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: Ligament balancing in total knee arthroplasty may have an important influence on joint stability and prosthesis lifetime. In order to provide quantitative information and assistance during ligament balancing, a device that intraoperatively measures knee joint forces and moments was developed. Its performance and surgical advantages were evaluated on six cadaver specimens mounted on a knee joint loading apparatus allowing unconstrained knee motion as well as compression and varus-valgus loading. Four different experiments were performed on each specimen. (1) Knee joints were axially loaded. Comparison between applied and measured compressive forces demonstrated the accuracy and reliability of in situ measurements (1.8N). (2) Assessment of knee stability based on condyle contact forces or varus-valgus moments were compared to the current surgical method (difference of varus-valgus loads causing condyle lift-off). The force-based approach was equivalent to the surgical method while the moment-based, which is considered optimal, showed a tendency of lateral imbalance. (3) To estimate the importance of keeping the patella in its anatomical position during imbalance assessment, the effect of patellar eversion on the mediolateral distribution of tibiofemoral contact forces was measured. One fourth of the contact force induced by the patellar load was shifted to the lateral compartment. (4) The effect of minor and major medial collateral ligament releases was biomechanically quantified. On average, the medial contact force was reduced by 20% and 46%, respectively. Large variation among specimens reflected the difficulty of ligament release and the need for intraoperative force monitoring. This series of experiments thus demonstrated the device's potential to improve ligament balancing and survivorship of total knee arthroplasty.
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: Computer assisted orthopaedic surgery (CAOS) technology has recently been introduced to overcome problems resulting from acetabular component malpositioning in total hip arthroplasty. Available navigation modules can conceptually be categorized as computer tomography (CT) based, fluoroscopy based, or image-free. The current study presents a comprehensive accuracy analysis on the computer assisted placement accuracy of acetabular cups. It combines analyses using mathematical approaches, in vitro testing environments, and an in vivo clinical trial. A hybrid navigation approach combining image-free with fluoroscopic technology was chosen as the best compromise to CT-based systems. It introduces pointer-based digitization for easily assessable points and bi-planar fluoroscopy for deep-seated landmarks. From the in vitro data maximum deviations were found to be 3.6 degrees for inclination and 3.8 degrees for anteversion relative to a pre-defined test position. The maximum difference between intraoperatively calculated cup inclination and anteversion with the postoperatively measured position was 4 degrees and 5 degrees, respectively. These data coincide with worst cases scenario predictions applying a statistical simulation model. The proper use of navigation technology can reduce variability of cup placement well within the surgical safe zone. Surgeons have to concentrate on a variety of error sources during the procedure, which may explain the reported strong learning curves for CAOS technologies.
Abstract: A novel computer-assisted injection device for the delivery of highly viscous bone cements in vertebroplasty is presented. It addresses the shortcomings of manual injection systems ranging from low-pressure and poor level of control to device failure. The presented instrument is capable of generating a maximum pressure of 5000 kPa in traditional 6-ml syringes and provides an advanced control interface for precise cement delivery from outside radiation fields emitted by intraoperative imaging systems. The integrated real-time monitoring of injection parameters, such as flow-rate, volume, pressure, and viscosity, simplifies consistent documentation of interventions and establishes a basis for the identification of safe injection protocols on the longer term. Control algorithms prevent device failure due to overloading and provide means to immediately stop cement flow to avoid leakage into adjacent tissues.
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: 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: 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: To design and evaluate a novel computer-assisted, fluoroscopy-based planning and navigation system for minimally invasive ventral spondylodesis of thoracolumbar fractures.
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: Some clinical applications, such as surgical planning, require volumetric models of anatomical structures represented as a set of tetrahedra. A practical method of constructing anatomical models from medical images is presented. The method starts with a set of contours segmented from the medical images by a clinician and produces a model that has high fidelity with the contours. Unlike most modeling methods, the contours are not restricted to lie on parallel planes. The main steps are a 3D Delaunay tetrahedralization, culling of non-object tetrahedra, and refinement of the tetrahedral mesh. The result is a high-quality set of tetrahedra whose surface points are guaranteed to match the original contours. The key is to use the distance map and bit volume structures that were created along with the contours. The method is demonstrated on computed tomography, MRI and 3D ultrasound data. Models of 170,000 tetrahedra are constructed on a standard workstation in approximately 10s. A comparison with related methods is also provided.
Abstract: Using navigation systems in general orthopaedic surgery and, in particular, knee replacement is becoming more and more accepted. This paper describes the basic technological concepts of modern computer assisted surgical systems. It explains the variation in currently available systems and outlines research activities that will potentially influence future products. In general, each navigation system is defined by three components: (1) the therapeutic object is the anatomical structure that is operated on using the navigation system, (2) the virtual object represents an image of the therapeutic object, with radiological images or computer generated models potentially being used, and (3) last but not least, the navigator acquires the spatial position and orientation of instruments and anatomy thus providing the necessary data to replay surgical action in real-time on the navigation system's screen.
Abstract: We present a framework for statistical finite element analysis combining shape and material properties, and allowing performing statistical statements of biomechanical performance across a given population. In this paper, we focus on the design of orthopaedic implants that fit a maximum percentage of the target population, both in terms of geometry and biomechanical stability. CT scans of the bone under consideration are registered non-rigidly to obtain correspondences in position and intensity between them. A statistical model of shape and intensity (bone density) is computed by means of principal component analysis. Afterwards, finite element analysis (FEA) is performed to analyse the biomechanical performance of the bones. Realistic forces are applied on the bones and the resulting displacement and bone stress distribution are calculated. The mechanical behaviour of different PCA bone instances is compared.
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: 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: This article presents a feasibility and evaluation study for using 2D ultrasound in conjunction with our statistical deformable bone model within the scope of computer-assisted surgery. The final aim is to provide the surgeon with enhanced 3D visualization for surgical navigation in orthopedic surgery without the need for preoperative CT or MRI scans. We unified our earlier work to combine several automatic methods for statistical bone shape prediction and ultrasound segmentation and calibration to provide the intended rapid and accurate visualization. We compared the use of a tracked digitizing pointer and ultrasound for acquiring landmarks and bone surface points for the estimation of two cast proximal femurs.
Abstract: A novel methodology which allows for fast and fully automatic structural analysis during preoperative planning for dental implant surgery is presented. This method integrates a fully automatic fast finite element solver within the framework of new concepts in computer-assisted preoperative planning for implant surgery. The planning system including optimized structural planning was validated by experimental results. Nine implants were placed in pig mandibles and mechanically loaded using a testing rig. The resulting displacements were measured and compared with those predicted by numerical analysis during planning. The results show that there were no statistically significant differences (P = 0.65) between the results of the models and the experiments. The results show that fast structural analysis can be integrated with surgical planning software allowing the initial axial implant stability to be predicted in real time during planning. It is believed that such a system could be used to select patients for immediate implant loading and, when further developed, be useful in other areas of preoperative surgical planning.
Abstract: To improve the ligament balancing procedure during total knee arthroplasty a force-sensing device to intraoperatively measure knee joint forces and moments has been developed. It consists of two sensitive plates, one for each condyle, a tibial base plate and a set of spaces to adapt the device thickness to the patient-specific tibiofemoral gap. Each sensitive plate is equipped with three deformable bridges instrumented with thick-film piezoresistive sensors, which allow accurate measurements of the amplitude and location of the tibiofemoral contact forces. The net varus-valgus moment is then computed to characterize the ligamentous imbalance. The developed device has a measurement range of 0-500 N and an intrinsic accuracy of 0.5% full scale. Experimental trials on a plastic knee joint model and on a cadaver specimen demonstrated the proper function of the device in situ. The results obtained indicated that the novel force-sensing device has an appropriate range of measurement and a strong potential to offer useful quantitative information and effective assistance during the ligament balancing procedure in total knee arthroplasty.
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: The purpose of this study was to determine the characteristics of eighteen lumbar spine motion segments subjected to lateral shear forces under quasi-static (0.5 mm/s) and dynamic (500 mm/s) test conditions. The quasi-static test was also performed on the lumbar spine of a side impact anthropomorphic test device, the EuroSID-2 (ES-2). In the quasi-static tests, the maximum force before disc-endplate separation in the PMHS lumbar motion segments was 1850 +/- 612 N, while the average linear stiffness of PMHS lumbar motion segments was 323 +/- 126 N/mm. There was a statistically significant difference between the quasi-static (1850 +/- 612 N) and dynamic (2616 +/- 1151 N) maximum shear forces. The ES-2 lumbar spine (149 N/mm) was more compliant than the PMHS lumbar segments under the quasi-static test condition.
Abstract: In cranio-maxillofacial and in trauma surgery while making osteosynthesis the surgeons want to reposition bone fractures and make fixation using implants and fixations devices. These devices need to be bent during surgery or prior surgery to fit geometrical boundary conditions defined by the individual anatomy of the patient. In clinical routine, surgeons must frequently repeat several times the "bend and try" process until they get the best fitting. This process often requires up to twenty minutes for a single osteosynthesis plate. A realistic deformation algorithm is then a pre-requisite to a computer-aided planning system which aims to help surgeons to optimally pre-bend the implant in respect to an individual patient bone structure. It has been shown that computer assisted planning system for bendable implant improves the results and operation outcome: shorter operation time, more accuracy, less post-operative implant failure, etc. This paper presents our preliminary results on implementing different types of deformation algorithms in the context of computer assisted orthopedic surgery.
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: 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. The pose and size of a diaphyseal fragment are estimated through 3D morphable object fitting using a parametric cylinder model. The result of fragment identification is then fed to a region information based active contour model to extract the fragment contour. Experimental results show a promising accuracy and robustness of the proposed approach.
Abstract: This paper addresses the problem of surface reconstruction from partial data consisting of digitized landmarks and surface points that are obtained intraoperatively. The surface is derived by deforming a template so that the reconstructed surface matches the digitized points. Two techniques are employed to address such an ill-posed problem. First, a patient-specific template is used, which is computed by optimally fitting a statistical deformable model to partial data. Second, the estimated patient specific template is deformed using a regression technique by carefully designing a regularization term in kernel space. The proposed method is especially useful for accurate and stable surface construction from partial data when only a small sample size of training set is available. It adapts gradually to use more information derived from the statistical shape model when larger data are available. The proposed reconstruction method has been successfully tested on femoral heads, yielding very promising results.
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: Calibration and registration of an endoscope are important steps while using the endoscope for any augmented reality applications or for the recovery of 3D information from it during surgical procedures. Traditionally calibration and registration are done simultaneously just before surgery. In this paper we present a novel registration technique, following offline calibration, which is simple, fast and concurs with the ergonomics of an operating room. We are developing a new hybrid navigation system for the purpose of navigation in ventral spine surgeries where in the endoscope is calibrated once in several surgeries, but, it is registered by the proposed novel technique before every surgical procedure.
Abstract: Nowadays, Computer Assisted Orthopedic planning and navigation systems have been recognized as an important tool that helps surgeons. Various systems have been developed so far, but most of them 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 systems. We addressed these limitations and developed a practical and generic solution which brings 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 with various applications in client/server mode. Nevertheless, the implant information is not static because periodically manufacturers revise implants, resulting in the removal of some implants and addition of new ones. To ease the implant management in respect to implant life cycle, we developed an implant management tool which helps end-users to manage their implants. Currently, this tool allows the 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 and gave very promising results. It makes it possible to fill the current existing gap between CAS system, implant manufacturers, hospitals and surgeons.
Abstract: The term computer aided orthopedic surgery (CAOS) stands for approaches that aim to improve visibility to the surgical field and increase application accuracy by means of so-called navigation systems alone or in combination with smart end-effectors when carrying out surgical actions. These goals achieved by linking the bony anatomy being operated on with a virtual representation, such as an image dataset. This article introduces the basic principles of CAOS. Surgical navigation systems that use modern tracking technology are introduced and classified according to the chosen virtual representation of the surgical object, ie, image-free and image-based (preoperative and intraoperative) technology. Within the latter class in particular, CT-and fluoroscopy-based (2-D and 3-D) systems have successfully made their way into the operating room (OR). Challenges during the development of the underlying enabling technologies are presented and references to orthopedic applications in different anatomical areas are given.
Abstract: As life expectancy increases, age-related disorders and the search for related medical care will expand. Osteoporosis is the most frequent skeletal disease in this context with the highest fracture risk existing for vertebrae. The aging process is accompanied by systemic changes, with the earliest degeneration occurring in the intervertebral discs. The influence of various degrees of disc degeneration on the load transfer was examined using the finite element method. The effect of different possible alterations of the bone quality due to osteoporosis was simulated by adjusting the corresponding material properties and their distribution and several loadings were applied. An alteration of the load transfer, characterised by changed compression stiffness and strain distributions as well as magnitudes, due to osteoporotic bone and degenerated discs was found. When osteoporosis was simulated, the stiffness was substantially decreased, larger areas of the cancellous bone were subjected to higher strains and strain maxima were increased. Increasing ratios of transverse isotropy in the osteoporotic bone yielded smaller effects than reduced bone properties. Including a degenerated disc mainly altered the strain distribution. Combining osteoporosis and degenerated discs reduced the areas of cancellous bone subjected to substantial strain. Based on these results, it can be concluded that the definition of a healthy disc in osteoporotic spines might be considered as a worst-case scenario. One attempt to evaluate the progress of osteoporosis can be made by introducing increasing degrees of anisotropy. If several parameters in a model are changed to simulate degeneration, it should be pointed out how each individual definition influences the overall result.
Abstract: Previous experimental and analytical studies of solute transport in the intervertebral disc have demonstrated that for small molecules diffusive transport alone fulfils the nutritional needs of disc cells. It has been often suggested that fluid flow into and within the disc may enhance the transport of larger molecules. The goal of the study was to predict the influence of load-induced interstitial fluid flow on mass transport in the intervertebral disc. An iterative procedure was used to predict the convective transport of physiologically relevant molecules within the disc. An axisymmetric, poroelastic finite-element structural model of the disc was developed. The diurnal loading was divided into discrete time steps. At each time step, the fluid flow within the disc due to compression or swelling was calculated. A sequentially coupled diffusion/convection model was then employed to calculate solute transport, with a constant concentration of solute being provided at the vascularised endplates and outer annulus. Loading was simulated for a complete diurnal cycle, and the relative convective and diffusive transport was compared for solutes with molecular weights ranging from 400 Da to 40 kDa. Consistent with previous studies, fluid flow did not enhance the transport of low-weight solutes. During swelling, interstitial fluid flow increased the unidirectional penetration of large solutes by approximately 100%. Due to the bi-directional temporal nature of disc loading, however, the net effect of convective transport over a full diurnal cycle was more limited (30% increase). Further study is required to determine the significance of large solutes and the timing of their delivery for disc physiology.
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: Experimental data suggest that lumbar torsion contributes to lumbar disc degenerative changes, such as instability, spondylolisthesis and spinal canal stenosis. However, some basic mechanical characteristics of the lumbar spine under torsional loading have not yet been reported in detail. For example, the function of the facet joints under combined mechanical loads such as torsion with superimposed flexion or extension postures is an area of interest about which little biomechanical data have been reported. In this study, the kinematic response to axial torsion with superimposed axial compression (200 N), compression-flexion (3 and 6 Nm) and compression-extension (3 and 6 Nm) was investigated in 10 cadaveric lumbar functional spinal units. Range of motion (ROM), and helical axes of motion (HAM), were analyzed. There was no difference in ROM between no preload, pure compressive and flexion-compression preload conditions. The ROM was significantly reduced by both extension-compression preload conditions (11% reduction for 3 Nm and 19% reduction for 6 Nm of extension) compared to the pure compressive preload. For no preload, the average HAM position in the transverse plane of the intervertebral disc was near the posteriormost part of the disc and located laterally on the side contralateral to the applied torsional moment. In the transverse plane, the HAM position showed a discrete trend towards the posterior part of the specimens during extension. Kinematic data were visualized using computer animation techniques and CT-based reconstructions of the respective specimens. This information may be used for identifying and characterizing physiologic and pathologic motion and for specifying conservative and surgical treatment concepts and, thus, may find application to identifying indications for spinal fusion or in evaluating the effect of future semi-flexible instrumentation.
Abstract: The mobile SIREMOBIL Iso-C(3D) C-arm (Siemens, Erlangen, Germany) is the first device permitting intraoperative, three-dimensional representation of bone structures. A high-resolution, isotropic 3D data cube in the isocenter with sides of approximately 12 cm is calculated simultaneously. The SIREMOBIL Iso-C(3D) is linked to the navigation system. This makes it possible to transfer the generated 3D data directly to the linked navigation system without the need for surgeon-dependent registration. In this prospective clinical trial, we evaluated the accuracy of pedicle screw placement using this device. In 61 patients, a total of 302 pedicle screws were placed. Only in five cases (1.7%) were misplacements of > or =2 mm shown in postoperative control CT. The average fluoroscopy time was 1.28+/-0.56 min, and the average operative duration was 103.26+/-23.3 min. There were no postoperative neurological complications in any of the 30 patients. From these data, we conclude that Iso-C(3D) navigation is a very accurate method for the placement of pedicle screws.
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: Congenital aural atresia repair is difficult owing to unpredictable anatomy. Benefits may be gained from computer-aided surgery (CAS), but its exact role has yet to be clearly defined. This is a retrospective study of 18 patients with bony type C (Schuknecht classification) congenital atresia. In the first group (n = 9), repair was performed with CAS while in the second group (n = 9), similar intervention was applied without CAS. Intra- and post-operative clinical and audiological findings were compared. CAS computed tomography (CT) images correlated well with intra-operative findings giving the surgeon more security and reducing operative time by 25 minutes. In our estimation, CAS is valuable for type C congenital aural atresia repair. It serves as an educational tool and as a guide for the experienced surgeon in critical situations where anatomical landmarks are distorted and where access is limited.
Abstract: Intervertebral cages in the lumbar spine represent an advancement in spinal fusion to relieve low back pain. Different implant designs require different endplate preparations, but the question of to what extent preservation of the bony endplate might be necessary remains unanswered. In this study the effects of endplate properties and their distribution on stresses in a lumbar functional spinal unit were investigated using finite-element analyses. Three-dimensional finite-element models of L2-L3 with and without a cage were used. An anterior approach for a monobloc, box-shaped cage was modelled. The results showed that inserting a cage increased the maximum von Mises stress and changed the load distribution in the adjacent structures. A harder endplate led to increased concentration of the stress peaks and high stresses were propagated further into the vertebral body, into areas that would usually not experience such stresses. This may cause structural changes and provide an explanation for the damage occurring to the underlying bone, as well as for the subsequent subsidence of the cage. Stress distributions were similar for the two endplate preparation techniques of complete endplate preservation and partial endplate removal from the centre. It can be concluded that cages should be designed such that they rely on the strong peripheral part of the endplate for support and offer a large volume for the graft. Furthermore, the adjacent vertebrae should be assessed to ensure that they show sufficient density in the peripheral regions to tolerate the altered load transfer following cage insertion until an adequate adaptation to the new loading situation is produced by the remodelling process.
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: Intervertebral cages in the lumbar spine have been an advancement in spinal fusion to relieve low back pain. Even though initial stability is accepted as a requirement for fusion, there are other factors. The load transfer and its effect on the tissues adjacent to the cage may also play an essential role, which is not easily detectable with experimental tests. In this study the effects of an intervertebral cage insertion on a lumbar functional spinal unit were investigated using finite element analyses. The influences of cage material, cancellous bone density and spinal loading for the stresses in a functional spinal unit were evaluated. Three-dimensional (3D) finite element models of L2-L3 were developed for this purpose. An anterior approach for a monobloc, box-shaped cage was modelled. Models with cage were compared to the corresponding intact ones. The results showed that inserting a cage increased the maximum von Mises stress and changed the load transfer in the adjacent structures. Varying the cage material or the loading conditions had a much smaller influence than varying the cancellous bone density. The denser the cancellous bone, the more the stress was concentrated underneath the cage, while the remaining regions were unloaded. This study showed that the density of the underlying cancellous bone is a more important factor for the biomechanical behaviour of a motion segment stabilized with a cage, and its eventual clinical success, than the cage material or the applied load. Inserting an intervertebral cage markedly changed the load transfer. The altered stress distribution may trigger bone remodelling and explain damage of the underlying vertebrae.
Abstract: Computer-guided navigation of surgical tool position in computer-assisted orthopedic systems requires the registration of computer tomographic (CT) images with underlying bone. This process is presently performed by manually digitizing points on bone with a pointer and aligning them to a preoperative CT scan. We propose the use of ultrasound to obtain points on bone transcutaneously. A custom-made A-mode probe features a modular lens focusing system and a one-step calibration method. A stable and precise echo detection algorithm is also implemented. The accuracies of three signal detection algorithms--standard deviation, cross-correlation (XCORR) and short-time Fourier transform--were compared using a known reflected signal. XCORR showed the most accurate and stable operation. To test our method of obtaining bone surface points, a plastic model of the fourth human lumbar vertebra was CT scanned and then immersed in a water bath. Six surface registrations of the vertebra using an accurate pointing device were compared to ten registrations obtained using the US probe (using the XCORR algorithm). Student's T-test showed no significant difference in error between the two methods, proving that ultrasound registration, using our method, is equivalent to the more conventional pointer method.
Abstract: We performed an in vitro study to investigate the stabilization (i.e. motion reduction) provided by the external spinal fixator (ESF), and to compare the three configurations of the ESF with two internal fixation techniques. Six human cadaveric lumbar spine specimens (L3-S1) were subjected to multidirectional flexibility testing in six configurations: (1) intact, (2) ESF in neutral, (3) ESF in distraction, (4) ESF in compression, (5) translaminar facet screw fixation, and (6) internal transpedicular fixation. Both the ESF and the internal fixation systems stabilized the specimens from L4 to S1. In each testing configuration, pure bending moments of flexion-extension, bilateral axial rotation, and bilateral lateral bending were applied to the uppermost vertebra stepwise to a maximum of 10 Nm. The rigid body motion between the vertebrae was measured using an optoelectronic camera system, and custom software was used to calculate the intervertebral rotations. For each applied motion in all testing configurations, the total range of motion (ROM) of L4-S1 is reported. All three ESF configurations stabilized the spine significantly when compared to the intact specimen. The ESF in compression provided significantly more stabilization in flexion-extension than the two other ESF configurations, but no other significant differences were found between the three ESF modes. In flexion-extension the ESF stabilized the spine significantly when compared with the two internal fixation devices. Only in bilateral lateral bending was the ESF inferior to internal transpedicular fixation in providing stabilization. The results of the present study suggest that the ESF provides a high degree of stabilization for preoperative assessment of selected low back pain patients. Whether other non-mechanical factors affect the pain relief experienced by the patients remains unknown.
Abstract: The correspondence problem is of high relevance in the construction and use of statistical models. Statistical models are used for a variety of medical application, e.g. segmentation, registration and shape analysis. In this paper, we present comparative studies in three anatomical structures of four different correspondence establishing methods. The goal in all of the presented studies is a model-based application. We have analyzed both the direct correspondence via manually selected landmarks as well as the properties of the model implied by the correspondences, in regard to compactness, generalization and specificity. The studied methods include a manually initialized subdivision surface (MSS) method and three automatic methods that optimize the object parameterization: SPHARM, MDL and the covariance determinant (DetCov) method. In all studies, DetCov and MDL showed very similar results. The model properties of DetCov and MDL were better than SPHARM and MSS. The results suggest that for modeling purposes the best of the studied correspondence method are MDL and DetCov.
Abstract: Precise transducer calibration is an essential prerequisite for reliable surface registration based on ultrasound B-mode imaging devices. The clinical usage of a novel B-mode transducer calibration technique was evaluated and its attainable calibration precision assessed.
Abstract: To evaluate the integration and accuracy of A (amplitude)-mode ultrasound-based surface matching for noninvasive registration of the head into a frameless computer-aided surgery system for otorhinology and skull base surgery.
Abstract: Objective 3-dimensional biomechanical changes of the shoulder at rest or during arm elevation were measured by means of a new specific method using an optoelectronic detection system that was developed for computer-aided surgery. Additionally, the shoulder syndrome following neck dissection was evaluated by the recognized orthopedic shoulder Constant score. The statistical evaluation encompassed 12 patients with unilateral radical neck dissection (RND), 12 patients with unilateral modified radical neck dissection (MRND) with preservation of the accessory nerve, and 10 healthy subjects. The healthy shoulders showed normal kinematic behavior, the so-called "scapulohumeral rhythm" (SHR). After MRND, the static scapular position and SHR showed no significant 3-dimensional variations. In contrast, RND produced a highly significant scapular displacement at rest (p < .01) and a near-total abolition of SHR. The Constant scores were significantly lower after RND than after MRND (p < .01). Three-dimensional evaluation of the shoulder syndrome supports the Constant score, quantifying what can be measured objectively.
Abstract: A recent consensus within an international society for sports traumatology revealed that approximately 40% of ACL grafts are being surgically misplaced in current clinical practice. To help solve this problem, a computer-assisted system has been developed at the M.E. Müller Institute for Biomechanics to perform intraoperative planning and guidance of ACL replacement. Dynamic reference bases are fixed on the femur and tibia to track the knee's movement. No intraoperative imaging is required, and potential ligament attachment sites can be directly digitized using a computerized palpation hook in a minimally invasive fashion when used in conjunction with standard endoscopic tools. The palpation hook can be used by the surgeon to interactively define various anatomical structures and reference landmarks that are important for proper ligament positioning. The system can input a standard diagnostic X-ray (sagittal view of the femur) and allows intraoperative registration of this image with the patient to provide valuable X-ray landmarks for intraoperative guidance. The computer helps in situ planning of ligament placement by providing the surgeon with a 3D overview of the relevant anatomical landmarks and information on graft impingement and elongation for various simulated surgical insertions and graft sizes. After planning, the computer helps guide placement of the chosen insertion tunnels. This approach provides an augmented 3D view of knee anatomy and ligament function prior to drilling that is not possible with current procedures. The flexibility of the system in permitting surgeon-defined landmarks and free interpretation of functional factors allows it to support a variety of surgical workflows and techniques.
Abstract: Injuries of the posterior pelvic with combined anterior and posterior instability require the stabilisation of both the anterior and posterior pelvic ring. If the injury only involves the ligamental connections, then a transileosacral osteosynthesis with screws is the minimal invasive and biomechanically suitable method of choice. The difficulty with this approach is the correct placement of the screws. Their position must be monitored intraoperatively in 3 planes (inlet, outlet and lateral viewing). This denotes that conventional methods involve high radiation dosages for the patient and the surgical staff. Having the system readily available and being able to perform updates during the operation, fluoroscopically supported navigation for the treatment of fresh injuries becomes possible. Between October 1999 and December 2000 7 patients with traumatic instability of the posterior pelvic ring were treated by computer assisted percutaneous transileosacral screw osteosynthesis. In each case the osteosynthesis of the ileosacral joint was performed with two cannulated AO 7.3 mm titanium screws. After the operation the screw position was controlled by CT scanning and compared to the data acquired intraoperatively. No patients had infection, and there were no postoperative neurological defects. The postoperative CT scans showed no intraspinal or intraforminal malplacement of the screws. In two cases a slight tangential screwthread penetration through the ventral sacrum was found. Our first experiences with this novel technology are encouraging and clearly demonstrate the advantages of fluoroscopic supported passive navigation systems for the optimal placement of ileosacral screws.
Abstract: CAS technology has emerged in the last 10 years and is more and more used for surgery of the anterior and lateral skull base. Endoscopic and microscopic CAS systems are available. The endoscopic key hole or minimal invasive procedure is used increasingly not only for treatment of inflammatory disease, but also for tumour surgery. The integration of CAS systems into these procedures raises the level of their safety and efficiency. In addition, they allow the distance to the bone border on the CT slices to be previewed and measured.
Abstract: A newly developed software module for computer-assisted surgery based on a commercially available navigation system allows simultaneous, independent registration of two fragments and real-time navigation of both fragments while reduction occurs. To evaluate the accuracy three fracture models were used: geometric foam blocks, a pelvic ring injury with disruption of the symphysis and the sacroiliac joint, and a pelvic ring fracture with symphysis disruption and a transforaminal sacral fracture. One examiner did visual and navigated reduction and in all experiments the end point was defined as anatomic reduction. Residual displacement was measured with a magnetic motion tracking device. The results revealed a significantly increased residual displacement with navigated reduction compared with visual control. The differences were low, averaging 1 mm for residual translation and 0.7 degrees for the residual rotation, respectively. Residual displacement was small in both set-ups and may not be clinically relevant. Additional development of the software prototype with integration of surface registration may lead to improved handling and facilitated multifragment tracking. Use in the clinical setting should be possible within a short time.
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: Vertebroplasty, which is the percutaneous injection of bone cement into vertebral bodies has recently been used to treat painful osteoporotic compression fractures. Early clinical results have been encouraging, but very little is known about the consequences of augmentation with cement for the adjacent, non-augmented level. We therefore measured the overall failure, strength and structural stiffness of paired osteoporotic two-vertebra functional spine units (FSUs). One FSU of each pair was augmented with polymethylmethacrylate bone cement in the caudal vertebra, while the other served as an untreated control. Compared with the controls, the ultimate failure load for FSUs treated by injection of cement was lower. The geometric mean treated/untreated ratio of failure load was 0.81, with 95% confidence limits from 0.70 to 0.92, (p < 0.01). There was no significant difference in overall FSU stiffness. For treated FSUs, there was a trend towards lower failure loads with increased filling with cement (r2 = 0.262, p = 0.13). The current practice of maximum filling with cement to restore the stiffness and strength of a vertebral body may provoke fractures in adjacent, non-augmented vertebrae. Further investigation is required to determine an optimal protocol for augmentation.
Abstract: A new concept for the anchorage of anterior fixation implants in the osteoporotic thoracic and lumbar spine is presented. The SpiralBlade has been proposed as a suitable device for use in the osteoporotic spine, due to its broad, flat surface, which should provide resistance against cut-out of the implant through the vertebral body under dynamic loading. The cut-out and pullout characteristics of this implant were tested. The SpiralBlade was tested with and without a supplementary insertion guide screw. Two other commercial implants were tested for comparison: the VentroFix and the MACS-TL HMA (hollow monoaxial) screw. All implants were tested in osteoporotic human cadaveric vertebrae, using a modified in vitro testing protocol which simulated a full corpectomy model. Dynamic cyclic loading of 100 N, 200 N and 400 N was applied to the implant for 1000 cycles at each load level, and the subsidence of the vertebral body relative to the implant was measured. Following cyclic testing, the pullout strength of the implant was measured. No significant differences were found in the cut-out performance between the SpiralBlade with guide screw and the VentroFix. The SpiralBlade inserted without a guide screw was prone to cutting-out and a substantial loss of angular alignment of the vertebral body. Cut-out of the HMA screw was significantly greater than with the other implants. Two HMA screws fractured during testing. The VentroFix, with an average pullout force of 1166 N, has a significantly higher resistance to pullout than the SpiralBlade with guide screw (417 N), the SpiralBlade (332 N) and the Aesculap HMA screw (298 N). The SpiralBlade may be an alternative to anterior screw fixation in the osteoporotic spine, offering the same cut-out resistance with one implant rather than two screws.
Abstract: The mechanical properties of the human spine have been studied extensively in compression, but there remains a lack of fundamental data in shear. The overall goal of this study was to contrast the mechanics of the thoracolumbar functional spinal unit (FSU) under compression and shear-type loads by evaluating endplate deformation, disc pressures, and kinematics between the different loading types. Eleven T12-L1 and one L1-L2 human FSUs were tested. Compression loads consisted of pure compression, extension-compression, flexion-compression, lateral left and right compression applied individually to a maximum of 500 N. Shear loading consisted of posterior, anterior, left, and right shear to a maximum of 500 N. Intervertebral motions, disc pressure, and vertebral body deformations were recorded for all loads. The deformations were measured using strain gauge rosettes at three points on the inferior vertebral body and one on the superior endplate of the inferior vertebra. The disc pressures and endplate deformations measured were significantly less in shear loading compared to compression and did not change significantly with the type of compression load. Vertebral rim strains were generally greater under shear loading compared with compression. The mechanics of load transfer in compression was the production of high disc pressures which were not linearly correlated with the central endplate deformation. In shear, the mechanism appears to be via the annulus fibrosus without the development of significant disc pressure. These differences between compression and shear loading may have implications for injury mechanisms in the thoracolumbar spine.
Abstract: An in vitro study was done to test the accuracy and functionality of computer-assisted surgery in pelvic orthopaedic surgery. The study was done on two fresh hips from one cadaver. In each hip, 10 titanium marker screws were inserted through standard pelvic osteotomy incisions. After a computed tomography scan was obtained the data were introduced into the navigation system. For the accuracy measurements the location of the center of the spherical heads of the marker screws was determined relative to a reference base attached to the pelvis using a special pointer that corresponded to the spherical head of the screws. A randomized trial was done with two surgeons to test the accuracy of two different anatomy-based registration protocols. The deviation between the virtual position of the marker screws in the pelvis, calculated by the computer after each anatomy based registration, and the real position were compared for each registration. Accuracy is not only related to the distance of the computed tomography slices and the necessary computed tomography field of view but also depends on the location of the point on the pelvis.
Abstract: Within an experimental trial the new method of fluoroscopy based navigation was tested for percutaneous pelvic screw fixations. A regular C-arm was used and the navigation system developed by Medivision. In a first step appropriate C-arm projections were defined for five standardized screw positions. Then precision and fluoroscopy time of 60 screws in 6 artificial pelves were evaluated. For the sacroliacal screw in S1, S1 screw in S2, anterior column screw, posterior column screw and the supraacetabular ilium screw three to four appropriate projections were defined. These were all combinations of the known special pelvic views inlet/outlet and iliac/obturator. Using these standardized views the average fluoroscopy time was 6 seconds per screw. 51 screws (85%) were inserted correctly. In five cases there was a slight deviation without perforating the cortex, four times the cortex was perforated.
Abstract: Interdisciplinary communication of three-dimensional kinematic data arising from in vitro biomechanical tests is challenging. Complex kinematic representations such as the helical axes of motion (HAM) add to the challenge. The difficulty increases further when other quantities (i.e. load or tissue strain data) are combined with the kinematic data. The objectives of this study were to develop a method to graphically replay and animate in vitro biomechanical tests including HAM data. This will allow intuitive interpretation of kinematic and other data independent of the viewer's area of expertise. The value of this method was verified with a biomechanical test investigating load-sharing of the cervical spine. Three 3.0 mm aluminium spheres were glued to each of the two vertebrae from a C2-3 segment of a human cervical spine. Before the biomechanical tests, CT scans were made of the specimen (slice thickness=1.0 mm and slice spacing=1.5 mm). The specimens were subjected to right axial torsion moments (2.0 Nm). Strain rosettes mounted to the anterior surface of the C3 vertebral body and bilaterally beneath the facet joints on C3 were used to estimate the force flow through the specimen. The locations of the aluminium spheres were digitised using a space pointer and the motion analysis system. Kinematics were measured using an optoelectronic motion analysis system. HAMs were calculated to describe the specimen kinematics. The digitised aluminium sphere locations were used to match the CT and biomechanical test data (RMS errors between the CT and experimental points were less than 1.0 mm). The biomechanical tests were "replayed" by animating reconstructed CT models in accordance with the recorded experimental kinematics, using custom software. The animated test replays allowed intuitive analysis of the kinematic data in relation to the strain data. This technique improves the ability of experts from disparate backgrounds to interpret and discuss this type of biomechanical data.
Abstract: Mechanical studies of soft connective tissues often encounter methodological difficulties, particularly in the secure fixation of the tissues. A simple, inexpensive technique which allowed stable cryofixation of soft tissues in uniaxial loading machines was developed. The cryogenic fixation device was evaluated in terms of its fixation strength and the temperature gradients within the tested tissues. Human patellar ligaments and quadriceps tendons were tested successfully to an average failure load of 2219N (S.D. 448N) with mid-substance failures occurring in 90% of the specimens. The temperature gradients within porcine flexor and extensor tendons were determined and found to exhibit a typical diffusion profile. The fixation quality was dependent upon the initial block temperature and the desired testing time. In summary, the cryofixation device presented here is an effective tool for soft tissue fixation but the effect of this type of fixation on internal tissue temperatures and possible testing times must be acknowledged.
Abstract: For simulation of computer-aided orthopedic interventions, the detection of impingement between parts of the patient's anatomy and/or implants is often of key importance. The impingement (collision) detection methods used in the existing literature seem to be unsuitable for two reasons. First, a polyhedral approximation of an anatomical model is not appropriate because medical images are quite irregular and are geometrically complex. Second, geometric and temporal coherences are not always available, because only the final results may be of interest. This article describes the development of a fast and accurate impingement detection algorithm for medical applications.
Abstract: Orthopaedic procedures that use fluoroscopy require intraoperative mental navigation of the surgical tools in a three-dimensional space. Moreover, because of their reliance on real-time monitoring, such procedures are frequently associated with increased x-ray exposure. The goal of this study was to develop a computer-guided surgical navigation system based on fluoroscopic images that not only facilitates direction of surgical tools within anatomy, but also provides constant feedback without the need for radiologic updates. To evaluate the feasibility of the new technology, the authors used it on cases requiring distal locking of femoral nails.
Abstract: A novel technique to measure in vitro disc pressures in human cervical spine specimens was developed. A miniature pressure transducer was used and an insertion technique was designed to minimise artefacts due to insertion. The technique was used to measure the intradiscal pressure in cervical spines loaded in pure axial compression. The resulting pressure varied linearly with the applied compressive force with coefficients of determination (r(2)) greater than 0.99 for each of the four specimens. Peak pressures between 2.4 and 3.5MPa were recorded under 800N of compression.
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.
Abstract: Computer-assisted image guidance allows precise preoperative planning and intraoperative localization of surgical instruments. The technique recently was validated for the insertion of pedicle screws. In the laboratory, the precision of a surface-matching algorithm was evaluated for registration and accuracy and safety of screw placement into the vertebral bodies of S1 and S2 for fixation of the sacroiliac joint. Using six plastic pelves, 24 screw holes were made through the sacroiliac joint into the vertebral body of S1, and 12 holes were made through the sacroiliac joint into S2. The accuracy of the hole position was evaluated using a postoperative computed tomography examination. The safety factor was assessed by analysis of the remaining bone stock around the holes calculating a theoretical cylindrical volume being outside bone with increasing bore hole diameters. The registration was accurate with a mean error less than 1.4 mm in the posterior parts of the pelvis. The drilling followed precisely the preoperatively planned trajectories; perforation of the cortex of the sacrum was not observed. The safety factor of the S1 vertebral body is higher than that of S2 allowing larger diameter screw insertion into S1. This technique provides a safe and precise guide for transcutaneous or open insertion of iliosacral screws in cases of iliosacral dislocation or sacral fracture.
Abstract: Accurate and reliable registration is one of the most important issues in computer-aided surgery, as small errors may have a large influence on the overall accuracy of the system. The restricted surface-matching algorithm (RSM), initially developed for periacetabular osteotomy surgery (PAO), has been improved to become numerically more stable and reliable. To assess the accuracy and sensitivity of registration, a framework is presented that evaluates two aspects of registration: the sensitivity and raw performance of the registration algorithm are tested in a stand-alone environment, and the integration into a CAS system is analyzed by evaluating the accuracy of the complete system. For the latter tests, spherical-headed titanium screws used as fiducial landmarks provide a reference transformation for the registration. This framework was used to analyze the performance of RSM for PAO surgery. The sensitivity analysis showed the algorithm to be insensitive to noise up to a magnitude of 3 mm. Both the sensitivity analysis and simulated surgical environment tests showed that an accuracy can be attained of better than 2 mm in the region of interest, and better than 4 mm far away from the region of interest. This is sufficient for safely assisting PAO surgeries.
Abstract: Anatomic reduction of displaced fractures is limited by the chosen surgical approach and intraoperative visualization. Preoperative Computed Tomography (CT) enhances the analysis of the fracture pattern and provides accurate spatial relationships. Computer Assisted Surgery (CAS) was introduced to increase the accuracy of specific surgical procedures. CAS systems can be used for implant placement or osteotomies in intact bone or reduced situations prior to obtaining the CT data, as differentiation into different datasets related to specific fragments is not yet possible. We present a model that allows "virtual" controlled reduction, providing computer assistance during the fracture reduction. Prior to clinical application, the accuracy of the process of virtual reduction must be proven in an experimental setting. An in vitro fracture model with two body fragments and a motion tracking system for three-dimensional (3D) control (accuracy 0.1 mm and 0.1 degrees ) was used. Two methods were employed: direct visualization and reduction by the examiner, and "virtual" reduction, performed solely with the use of a computer image, in which the examiner lacks any direct visualization of the fragments. The results of this very simplified "fracture" model indicate that the overall difference between direct and virtual controlled reduction was very small. A significant difference of 0.3 mm (0-1.8 mm) was seen for the residual displacement represented by the Euclidean distance (p < 0.01), whereas the difference in the residual angulation was not significant (p > 0.05). The methods tested revealed that virtual controlled reduction is nearly as accurate as direct visualization. Reduction control utilizing a motion tracker system reveals accurate 3D information in this simplified reduction setup, and is now used as a standard setup for analyzing realistic fracture models.
Abstract: The three-dimensional flexibility of six human lumbar functional spinal units was measured after the anterolateral insertion of an interbody cage.
Abstract: An in vitro biomechanical investigation on human cadaveric specimens was conducted before and after nucleotomy. Endplate and vertebral body deformation patterns were measured under compression and shear loading, in addition to kinematics and disc pressure.
Abstract: A new computer-based navigation system for spinal surgery has been designed. This was achieved by combining intraoperative fluoroscopy-based imaging using conventional C-arm technology with free-hand surgical navigation principles. Modules were developed to automate digital X-ray image registration. This is in contrast to existing computed tomography- (CT) based spinal navigation systems, which require a vertebra-based registration procedure. Cross-referencing of the image intensifier with the surgical object allows the real-time image-interactive navigation of surgical tools based on one single registered X-ray image, with no further image updates. Furthermore, the system allows the acquisition and real-time use of multiple registered images, which provides an advanced multi-directional control (pseudo 3D) during surgical action. Stereotactic instruments and graphical user interfaces for image-interactive transpedicular screw insertion have been developed. A detailed validation of the system was performed in the laboratory setting and throughout an early clinical trial including eight patients in two spine centers. Based on the resulting data, the new technique promises improved accuracy and safety in open and percutaneous spinal surgery.
Abstract: Some biomechanical studies have been performed to evaluate the stabilization provided by interbody cages, but there are virtually no comparative data for the different designs. Furthermore, most investigators have used animal models, which may have led to different results due to morphological variation in the end plates and articular facets. The objectives of the current study were to evaluate whether two different anterior cage designs (BAK and SynCage) performed differently with respect to immediate stabilization of the spine, whether the cages stabilized the spine significantly compared with its intact condition, and whether the addition of supplementary translaminar screw fixation further stabilized the spine. Stabilization was defined as a reduction in motion after insertion of an implant.
Abstract: To compare the in vitro stability of two cemented hip stem designs: Stem I was a collarless, double-tapered, highly polished implant; Stem II had a collar and matt finish.
Abstract: To increase the intraoperative safety factor and to acquire anatomic assistance during revision endoscopic sinus surgery (RESS), we used an optical computer-aided surgery (CAS) system that we developed collaboratively in Bern, Switzerland. During 1 year, 25 RESSs were performed with CAS: recurrent polyposis (n = 20), recurrent frontal recess stenosis (n = 3), and recurrent frontal recess stenosis with mucocele (n = 2). These patients were compared with a control group of 10 patients undergoing RESS without CAS. The same surgeon (M.C.) performed all operations, and there were no minor or major complications in either group. The clinical inaccuracy of our system is between 0.5 and 2 mm with paired-point and surface matching. The navigation system is an important aid to surgeons in identifying anatomic landmarks that are typically difficult to visualize in this type of surgery, thus reducing the stress placed on the surgeon.
Abstract: Load sharing in stabilized spinal segments was evaluated using sequential injury and stabilization with a posterior instrumentation system under an in vitro flexibility protocol.
Abstract: Intra-operative fluoroscopy is a valuable tool for visualizing underlying bone, implant, and surgical tool positions in orthopedics. It has brought about the minimally invasive surgical technique of intramedullar nailing to fix femoral shaft fractures. However, the limited field of view and two-dimensional property of fluoroscopic images aggravate intra-operative control of surgical parameters. The purpose of this article is to introduce a surgical navigation system based on fluoroscopy that provides missing information for the procedure of femoral fracture fixation.
Abstract: Fluoroscopy is used to guide surgical instruments during orthopedic procedures. Radiation exposure and lack of spatial information are drawbacks of this method. Improvements are expected when fluoroscopy-based surgical navigation is used for intraoperative guidance, e.g., in computer-assisted distal locking of intramedullary implants.
Abstract: The aim of this study was to develop and test in vitro an opto-electronic positioning device for serial direct digital images of oral structures, i.e. to associate direct digital imaging with the principles of computer-aided surgery. This system registered positions of infrared light emitting diodes (LED) on carriers, establishing local coordinate systems. With LED markers attached on the sensor holder, the X-ray tube and a fix reference, the opto-electronic camera (Optotrak) registered the geometric source/detector relation. A specially designed tracking and guidance software was developed which enabled the operator to reposition the X-ray source. A graphical user interface guided the operator in aligning 2 circles to the reference axis, one indicating the origin of the beam, the other its tip. In addition, depth control was provided. An in vitro calibration was performed. A sensor holder/bite block carried the Sens-A-Ray sensor with a hair-cross. In front of the object a second hair-cross was fixed. A steel ball fixed to the center of the X-ray cone allowed to verify the alignment. The mean angulation error in the vertical plane was 0.06 degrees and 0.04 degrees in the horizontal one. Translation mean errors were small and ranged between -0.02 mm and 0.37 mm. The translation in the Z axis is negligible. This resulted in pairs of images suitable for digital subtraction. Although still in an experimental state, the results showed that opto-electronic navigation was useful to standardize projection geometry without any mechanical link and to achieve digital subtraction images based on direct digital imaging.
Abstract: Paired-point matching and surface matching are highly accurate when used on the lateral skull base with an optical computer-aided surgery system.
Abstract: Presently, there is little consensus about how, or even if, axial preload should be incorporated in spine flexibility tests in order to simulate the compressive loads naturally present in vivo. Some preload application methods are suspected of producing unwanted "artefact" forces as the specimen rotates and, in doing so, influencing the resulting kinematics. The objective of this study was to quantitatively compare four distinct types of preload which have roots in contemporary experimental practice. The specific quantities compared were the reaction moments and forces resulting at the intervertebral disc and specimen kinematics. The preload types incorporated increasing amounts of caudal constraint on the preload application vector ranging from an unconstrained dead-load arrangement to an apparatus that allowed the vector to follow rotations of the specimen. Six human cadaveric spine segments were tested (1-L1/L2, 3-L2/L3, 1-L3/L4 and 1-L4/L5). Pure moments were applied to the specimens with each of the four different types of compressive preload. Kinematic response was measured using an opto-electronic motion analysis system. A six-axis load cell was used to measure reaction forces and moments. Artefact reaction moments and shear forces were significantly affected by preload application method and magnitude. Unconstrained preload methods produced high artefact moments and low artefact shear forces while more constrained methods did the opposite. A mechanical trade-off is suggested by our results, whereby unwanted moment can only be prevented at the cost of shear force production. When comparing spine flexibility studies, caution should be exercised to ensure preload was applied in a similar manner for all studies. Unwanted moments or forces induced as a result of preload application method may render the comparison of two seemingly similar studies inappropriate.
Abstract: Bone allograft material is treated with sterilization methods to prevent the transmission of diseases from the donor to the recipient. The effect of some of these treatments on the integrity of the bone is unknown. This study was performed to evaluate the effect of several sterilization methods on the mechanical behaviour of human middle ear bones. Due to the size and composition of the bones (approximately 1.5 mm diameter by 4 mm long), mechanical testing options were limited to the traditional platens compression test. Experiments were first performed with synthetic bone to evaluate the precision of this test applied to small specimens. Following this, fresh frozen human ossicles were thawed and sterilized with (i) 1 N NaOH (n = 12); (ii) 0.9% LpH, a phenolic solution (n = 12); or (iii) steam at 134 degrees C (n = 18). A group of 26 control specimens did not receive any sterilization treatment. Material and structural properties were determined from axial compression testing. Results from the synthetic bone showed that the test was reproducible, with standard deviations less than 20% of the means. Significant differences occurred in stiffness and ultimate force values between NaOH-treated and autoclaved bones when compared to normals (p<0.05), but not for LpH-treated bones. LpH is not approved for medical use, so NaOH is the most appropriate of the treatments studied for the sterilization of ossicle allografts.
Abstract: We analyzed mechanical tensile properties of 16 10-mm wide, full-thickness central parts of quadriceps tendons and patellar ligaments from paired knees of eight male donors (mean age, 24.9 years). Uniaxial tensile testing was performed in a servohydraulic materials testing machine at an extension rate of 1 mm/sec. Sixteen specimens were tested unconditioned and 16 specimens were tested after cyclic preconditioning (200 cycles between 50 N and 800 N at 0.5 Hz). Mean cross-sectional areas measured 64.6 +/- 8.4 mm2 for seven unconditioned and 61.9 +/- 9.0 mm2 for eight preconditioned quadriceps tendons and were significantly larger than those values of seven unconditioned and seven preconditioned patellar ligaments (36.8 +/- 5.7 mm2 and 34.5 +/- 4.4 mm2, respectively). Mean ultimate tensile stress values of unconditioned patellar ligaments were significantly larger than those values of unconditioned quadriceps tendons: 53.4 +/- 7.2 N/mm2 and 33.6 +/- 8.1 N/mm2, respectively. Strain at failure was 14.4% +/- 3.3% for preconditioned patellar ligaments and 11.2% +/- 2.2% for preconditioned quadriceps tendons (P = 0.0428). Preconditioned patellar ligaments exhibited significantly higher elastic modulus than preconditioned quadriceps tendons. Based on mechanical tensile properties analyses, the quadriceps tendon-bone construct may represent a versatile alternative graft in primary and revision anterior and posterior cruciate ligament reconstruction.
Abstract: The purpose of the present study was to evaluate the interface shear strength of unloaded titanium implants with a sandblasted and acid-etched (SLA) surface in the maxilla of miniature pigs. The two best documented surfaces in implant dentistry, the machined and the titanium plasma-sprayed (TPS) surfaces served as controls. After 4, 8, and 12 weeks of healing, removal torque testing was performed to evaluate the interface shear strength of each implant type. The results revealed statistically significant differences between the machined and the two rough titanium surfaces (p <.00001). The machined surface demonstrated mean removal torque values (RTV) between 0.13 and 0.26 Nm, whereas the RTV of the two rough surfaces ranged between 1.14 and 1.56 Nm. At 4 weeks of healing, the SLA implants yielded a higher mean RTV than the TPS implants (1.39 vs. 1. 14 Nm) without reaching statistical significance. At 8 and 12 weeks of healing, the two rough surfaces showed similar mean RTVs. The implant position also had a significant influence on removal torques for each implant type primarily owing to differences in density in the periimplant bone structure. It can be concluded that the interface shear strength of titanium implants is significantly influenced by their surface characteristics, since the machined titanium surface demonstrated significantly lower RTV in the maxilla of miniature pigs compared with the TPS and SLA surfaces.
Abstract: Intraoperative fluoroscopy is a valuable tool for visualizing underlying bone and surgical tool positions in orthopedic procedures. Disadvantages of this technology include the need for continued radiation exposure for visual control, and cumbersome means of alignment. The purpose of this article was to highlight a new concept for a computer-assisted freehand navigation system that uses single intraoperatively acquired fluoroscopic images as a basis for real-time navigation of surgical tools.
Abstract: Bending and shaping of longitudinal orthopedic fixation devices like rods and plates is often a difficult and time-consuming process to perform during surgery under sterile conditions. This study presents a novel device for implant contouring and introduces two strategies to obtain parameters necessary for the bending process. The first strategy is based on surgical navigation techniques as established within the framework of computer-assisted orthopedic surgery. Geometrical landmarks, e.g., the location of pedicle screws in a case of posterior spinal fixation, are collected with a three-dimensional pointing device. Subsequently, the final shape of the implant and the associated contouring parameters are calculated. The alternative strategy utilizes a flexible material intended to be used intra-operatively to enable the optimal shape of the implant to be modeled by hand. Contour parameters are calculated from a depth image of this model obtained using an object scanner. Bending of spinal rod systems is used to illustrate both strategies. A newly designed semi-automatic bending machine is proposed to impose the computed deformation on the implant material once parameters are obtained. Integrating the bending device into a system for computer-assisted surgery allows for the interactive control of the contouring process.
Abstract: The objective of this research was to determine whether a fast 3-dimensional (3-D) gradient echo magnetic resonance imaging (MRI) sequence could be used to acquire images suitable for image guided surgery of the spine. The main difficulty with MRI is that inhomogeneities in the static magnetic field lead to geometric distortions in the images. We used a very fast 3-D MRI sequence with a wide bandwidth and short echo time (TE) to minimize these distortions. Fiducial markers that could be localized in MRI and computed tomography (CT) images and in physical space were attached to a phantom in order to assess the accuracy of a landmark based registration method. The effect of varying the MRI parameters on image contrast was also investigated. The results demonstrate that the registration can be undertaken with an accuracy of 0.4 mm using the 3-D MRI. This is comparable to the accuracy of 0.3 mm obtained with CT and is a significant improvement over the accuracy of the 2-D MRI techniques (> 1.0 mm). In vivo images demonstrating good contrast between the spine and surrounding soft tissues such as fat, intervertebral disks, and cerebrospinal fluid were obtained. The MRI acquired using the sequence described in this article shows promise for use in computer assisted surgery of the spine.
Abstract: Moments and forces during pedicle screw insertion were measured in vivo and in vitro and were correlated to several parameters of the screw-bone interface.
Abstract: We performed a biomechanical study on human cadaver spines to determine the effect of three different interbody cage designs, with and without posterior instrumentation, on the three-dimensional flexibility of the spine. Six lumbar functional spinal units for each cage type were subjected to multidirectional flexibility testing in four different configurations: intact, with interbody cages from a posterior approach, with additional posterior instrumentation, and with cross-bracing. The tests involved the application of flexion and extension, bilateral axial rotation and bilateral lateral bending pure moments. The relative movements between the vertebrae were recorded by an optoelectronic camera system. We found no significant difference in the stabilising potential of the three cage designs. The cages used alone significantly decreased the intervertebral movement in flexion and lateral bending, but no stabilisation was achieved in either extension or axial rotation. For all types of cage, the greatest stabilisation in flexion and extension and lateral bending was achieved by the addition of posterior transpedicular instrumentation. The addition of cross-bracing to the posterior instrumentation had a stabilising effect on axial rotation. The bone density of the adjacent vertebral bodies was a significant factor for stabilisation in flexion and extension and in lateral bending.
Abstract: One goal of interbody fusion is to increase the height of the degenerated disc space. Interbody cages in particular have been promoted with the claim that they can maintain the disc space better than other methods. There are many factors that can affect the disc height maintenance, including graft or cage design, the quality of the surrounding bone and the presence of supplementary posterior fixation. The present study is an in vitro biomechanical investigation of the compressive behaviour of three different interbody cage designs in a human cadaveric model. The effect of bone density and posterior instrumentation were assessed. Thirty-six lumbar functional spinal units were instrumented with one of three interbody cages: (1) a porous titanium implant with endplate fit (Stratec), (2) a porous, rectangular carbon-fibre implant (Brantigan) and (3) a porous, cylindrical threaded implant (Ray). Posterior instrumentation (USS) was applied to half of the specimens. All specimens were subjected to axial compression displacement until failure. Correlations between both the failure load and the load at 3 mm displacement with the bone density measurements were observed. Neither the cage design nor the presence of posterior instrumentation had a significant effect on the failure load. The loads at 3 mm were slightly less for the Stratec cage, implying lower axial stiffness, but were not different with posterior instrumentation. The large range of observed failure loads overlaps the potential in vivo compressive loads, implying that failure of the bone-implant interface may occur clinically. Preoperative measurements of bone density may be an effective tool to predict settling around interbody cages.
Abstract: The purpose of this study was to compare side-by-side two different titanium screw-type implants in the maxillae of miniature pigs. The test implants had a machined and acid-etched surface (Osseotite) whereas the control implants were sandblasted and acid-etched (SLA). After 4, 8, and 12 weeks of healing, removal torque testing was performed to evaluate the shear strength of the bone-implant interface for both implant types. The results demonstrated significant differences between both implant types (P < .01). Osseotite implants revealed mean removal torque values (RTV) of 62.5 Ncm at 4 weeks, 87.6 Ncm at 8 weeks, and 95.7 Ncm at 12 weeks of healing. In contrast, the SLA implants demonstrated mean RTV of 109.6 Ncm, 196.7 Ncm, and 186.8 Ncm at corresponding healing periods. The mean RTV for SLA implants was 75% to 125% higher than for Osseotite implants up to 3 months of healing.
Abstract: To assist surgeons performing pelvic osteotomies for the treatment of dysplastic hips, an image guided freehand navigation system has been developed. Preoperative computed tomographic scan images are presented in various ways to the surgeon together with real time display of the instruments and surgical action on the computer screen. The system supports the preoperative plan and provides optimized control of surgical action. The main focus of the image guidance has been placed on the execution of the different required cuts and the reorientation of the acetabular fragment. Special attention also has been given to the development of a sophisticated surgeon-machine interface. Fourteen surgeries have been performed with image guidance so far. The visualization aids provided by the system are able to help reduce potential risk and thus increase safety and accuracy for this difficult class of surgical interventions.
Abstract: Surgery of the skull base and of the paranasal sinuses is often difficult because of the complex anatomy and the delicate structures; serious complications (loss of vision, cerebral lesion) have been reported. To improve the safety of such operations, computer-assisted navigation surgery is increasingly being put to use. We introduce the system which was developed in Berne. Our computer-assisted system is based on an intraoperative pursuit of the head and instruments which are equipped with infrared diodes and registered by an opto-electronic system-camera. The CT-acquisition of the head is accomplished framelessly without a head-holding device. This allows free movement of the head during surgery. Between March and November 1997, 35 navigation operations were performed for various pathologies at the anterior and lateral skull base. The majority of the cases were endonasal operations. No surgical complications occurred inspite of the complexity of the operations. The measured accuracy of the system between the CT and the actual instrument location in the patient was 0.5-2 mm (mean : < 1 mm) for the anterior skull base and 1-2.5 mm (mean < 1.5 mm) for the lateral skull base. The intraoperative navigation system allows identification of essential anatomical structures and permits safe and efficient surgery without additional loss of time. In addition, such a system allows minimal invasive approaches, and new operations may become possible.
Abstract: Surgical instruments play a major role in orthopedic surgery; usually they are controlled visually at the operation. In certain situations additional device to control instrument is needed. The aim of this paper is to present theoretical foundations, create prototype and give initial assessment of computer assisted orthopedic surgery system. Two-dimensional fluoroscopy was the base for system functioning. Lab tests and first applications in the operating room are presented. Precision of the system found allows for its use in orthopedic surgery with television monitoring.
Abstract: The immediate stabilization provided by anterior interbody cage fixation is often questioned. Therefore, the role of supplementary posterior fixation, particularly minimally invasive techniques such as translaminar screws, is relevant. The purpose of this biomechanical study was to determine the immediate three-dimensional flexibility of the lumbar spine, using six human cadaveric functional spinal units, in four different conditions: (1) intact, (2) fixed with translaminar screws (TLS), (3) instrumented with anterior interbody cage insertion with the BAK system and (4) instrumented with BAK cage with additional TLS fixation. Flexibility was determined in each testing condition by measuring the vertebral motions under applied pure moments (i.e. flexion-extension, bilateral axial rotation, bilateral lateral bending) in an unconstrained manner. Anterior fixation with the BAK alone provided significant stability in flexion and lateral bending. Additional posterior TLS significantly reduced the motion in extension and axial rotation. TLS fixation alone resulted in smaller rotations than BAK fixation in all loading directions. Based on these results, it seems that interbody cage fixation with the BAK system stabilizes the spine in some, but not all, loading directions. The problematic loading directions of extension and axial rotation can be substantially stabilized by using translaminar screw fixation. However, one should emphasize that the degree of stability needed to achieve solid fusion is not known.
Abstract: A computer-assisted planning and visualization system (the Orthopaedic Surgery Planning System) was tested for pedicle screw insertion in vivo.
Abstract: Image guided freehand navigation of surgical instruments has been applied to the Bernese periacetabular osteotomy, a complex surgical technique for the treatment of dysplastic hips. This navigation system has been introduced into the operating room and has so far been used for 12 patients. Image data from computed tomography (CT) scans are presented in various ways to support the preoperative plan and to provide optimized control of surgical action. Special attention has been paid to the implementation of a sophisticated surgeon-machine interface. This paper describes the features of this novel surgical navigation system and its introduction into the clinical environment.
Abstract: The clinical potential of computer assisted surgery (CAS) has been more and more widely acknowledged since CAS systems have been introduced into the operating room (OR) theater. Especially the improvements in safety and accuracy are remarkable and strengthen the ties between surgeons and engineers. Tumor stereotaxis was introduced to neurological surgery in the early 1980s, and currently systems with and without robotic navigation are in use for specific medical indications. Recently, solutions for computer assisted orthopedic surgery were developed and applied to various anatomical regions. However, with the establishment of CAS in vivo, a new complex of problems, which was not present in the laboratory setup, was introduced: the man-machine interface. Currently, the complexity of available CAS systems requires the presence of at least one system engineer (often called the "operator") in the OR. As a consequence, there is no possibility for direct communication between the surgeon and the machine or software. Most of the program steps involved in CAS and choices to be made intraoperatively have to be transferred to the software by means of communication of the surgeon with the operator. Particularly, the establishment of a relation between the virtual object (i.e., a medical image) and the surgical object (i.e., the patient), often denoted as "matching" or "skeletal registration," requires intensive interaction of the surgeon with the computer. A literature survey revealed that no CAS system in clinical use exists without a system engineer or a comparable person, and our clinical experience indicated that the matching process is a weak point in most systems. Because it appears to be contradictory to cost-reduction efforts in health care to have a highly paid specialist in the OR, this research evaluates strategies to facilitate the man-machine interface with the final goal of establishing a direct control of the system by the surgeon or the medical personnel traditionally present at surgery. Options to be investigated include 1) a CAS control panel (virtual keyboard) as an integrated component of the existing navigation system and 2) introduction of a commercial voice-recognition system. The implementation of these strategies into the existing CAS setup at the Department of Orthopaedic Surgery at the Inselspital (University of Bern) and clinical experience gained are reported.
Abstract: Implant micromotion is considered to be a major factor in the loosening of cementless total hip replacements. Translational micromotion at the bone-implant interface generally occurs in all three spatial directions. Under physiological loading, the interfacial micromotion consists of a cyclic amplitude and changes in the mean, which, in the cranio-caudal direction, represents subsidence of the prosthesis. Existing measurement strategies, which are based on dial gauges, extensometers, LVDTs, hall-effect transducers or strain gauge techniques provide information about only one component of the general three-dimensional micromovement. Moreover, in the majority of the studies, the data are difficult to interpret due to the measured motions being composed of interfacial micromotion and femoral strains. A new transducer was designed that allows the accurate measurement of all three isolated components of micromotion. An optoelectronic approach, based on silicon position-sensitive detectors (PSD) in combination with high precision mechanical parts, was chosen. To exclude thermodrifts during long-term testing, a thermistor was integrated in the sensor. Validation experiments on a precision positioning table indicated the high precision and resolution of the developed sensors. Furthermore, in-vitro tests on a standard press-fit prosthesis demonstrated the easy handling and reliability of the system.
Abstract: OBJECTIVE: This study investigates by means of a new bone-prosthesis interface motion detector whether conceptual design differences of femoral stems are reflected in their primary stability pattern. DESIGN: An in vitro experiment using a biaxial materials testing machine in combination with three-dimensional motion measurement devices was performed. BACKGROUND: Primary stability of uncemented total hip replacements is considered to be a prerequisite for the quality of bony ongrowth to the femoral stem. Dynamic motion as a response to loading as well as total motion of the prosthesis have to be considered under quasi-physiological cyclic loading conditions. METHODS: Seven paired fresh cadaveric femora were used for the testing of two types of uncemented femoral stems with different anchoring concepts: CLS stem (Spotorno) and Cone Prosthesis (Wagner). Under sinusoidal cyclic loading mimicking in vivo hip joint forces a new measurement technique was applied allowing for the analysis of the three-dimensional interface motion. RESULTS: Considerable differences between the two prostheses could be detected both in their dynamic motion and total motion behaviour. Whereas the CLS stem, due to the wedge-shaped concept, provides smaller total motions, the longitudinal ribs of the Cone prostheses result in a substantially smaller dynamic motion. CONCLUSIONS: The measuring technique provided reliable and accurate data illustrating the three-dimensional interface motion of uncemented femoral stems.
Abstract: A prospective clinical trial was done to study the accuracy of pedicle screw placement in 30 consecutive computer-assisted orthopedic surgeries.
Abstract: Computer assisted orthopaedic surgery is a new but rapidly evolving field. Based on previous research and development in the area of stereotactic neuronavigation a few groups have adapted these technologies for the image interactive insertion of pedicle screws. The present paper summarizes past and current work in the field of computer assisted orthopaedic surgery and describes the state of the art of research and future innovations, particularly in in vivo applications.
Abstract: Transpedicular screw fixation relies on thorough knowledge of the pedicular anatomy and a reliable intraoperative technique. To enhance the safety and accuracy of screw insertion, computer-assisted systems have been introduced. Our in vitro study investigated the potential benefits of such a system for the preoperative planning and the intraoperative visualization. In part 1, the potentially possible range of screw paths (trajectories) through lumbar pedicles was analyzed. In part 2, the accuracy of actual pedicle-hole preparation with and without preoperative planning was assessed. It was shown that, especially in the lower lumbar regions, the possible range of trajectories is considerable, with inclinations of < or = 40 degrees in the transverse plane and a range of angulation in the sagittal plane of > 20 degrees. The computer assistance in preparation of 100 pedicle holes resulted in cortex perforation in only one case. Computer assistance therefore may be used as a valuable tool to minimize the risks of transpedicular screw insertion. It furthermore may assist in determining the desired screw orientation and length and transform this planning into the intraoperative pedicle-hole preparation.
Abstract: The pull-out force of thoracic spinal pedicle hooks secured by long fixation screws engaging the posterior portion of the vertebral endplate was measured. The performance of these hooks was compared with that of hooks using a shorter screw and different screw orientation such that the vertebral endplates were not perforated. The longer and differently angulated screws, engaging the endplate, significantly enhanced the fixation potential of the hooks.
Abstract: An in vitro biomechanical investigation in the human lumbar spine focuses on the functional significance of vertebral bone density and intervertebral disc degenerations.
Abstract: Structural tensile properties analyses of 10-mm-wide central sections of quadriceps tendon-bone (QT-B) and bone-patellar ligament (B-PL) complexes from young male donors (mean age 24.9 years, range 19-32 years) were complemented by a cryosectional analysis: each QT-B complex was composed of the segment of the quadriceps tendon with the proximal half of the patella attached, each B-PL complex was composed of the distal half of the patella with the patellar ligament attached. A servohydraulic materials testing machine was used to assess ultimate failure load of 16 unconditioned and 16 preconditioned QT-B and B-PL complexes at an extension rate of 1 mm/s. Ligaments/tendons were preconditioned during 200 cycles from 50 to 800 N at 0.5 Hz. On cryosections the quadriceps tendons were significantly longer and thicker and exhibited a significantly larger bony attachment area than the patellar ligaments. Cross-sectional areas of 10-mm-wide, full-thickness, central parts of unconditioned quadriceps tendons were significantly greater and measured 64.6 +/- 8.4 mm2 with respect to the cross-sectional area of patellar ligaments, measuring 36.8 +/- 5.7 mm2 (P < 0.0025). Ultimate failure loads for unconditioned complexes resulted at 2173 +/- 618 N for QT-B complexes and at 1953 +/- 325 N for B-PL complexes (P = 0.43). Ultimate failure load values measured 2353 +/- 495 N for preconditioned QT-B complexes and 2376 +/- 152 N for preconditioned B-PL complexes, respectively (P = 0.77). Despite the fact that initial testing length, thickness, cross-sectional shape and area of unconditioned QT-B and B-PL complexes were significantly different, displacement at ultimate load, energy to failure and total energy were not. In terms of ultimate tensile strength, the 10-mm-wide central part of the QT-B complex compared favourably to the tensile properties of the human femur-anterior cruciate ligament-tibia complex from a comparable young age group. The evidence from anatomic, cryosectional and structural properties analyses suggests that the QT-B complex may be a valuable and versatile adjunct to the surgeon's armamentarium in reconstructive cruciate ligament surgery.
Abstract: Medical imaging provides an important basis for modern diagnosis as well as for preoperative planning of surgical procedures. However, information gained cannot be transferred directly into the operating room. Furthermore, the safety and accuracy of the surgical intervention would be improved by interactive navigation of surgical instruments. These features are provided by the system for computer-aided fixation of spinal implants described in this paper.
Abstract: Pedicle hooks which are used as an anchorage for posterior spinal instrumentation may be subjected to considerable three-dimensional forces. In order to achieve stronger attachment to the implantation site, hooks using screws for additional fixation have been developed. The failure loads and mechanisms of three such devices have been experimentally determined on human thoracic vertebrae: the Universal Spine System (USS) pedicle hook with one screw, a prototype pedicle hook with two screws and the Cotrel-Dubousset (CD) pedicle hook with screw. The USS hooks use 3.2-mm self-tapping fixation screws which pass into the pedicle, whereas the CD hook is stabilised with a 3-mm set screw pressing against the superior part of the facet joint. A clinically established 5-mm pedicle screw was tested for comparison. A matched pair experimental design was implemented to evaluate these implants in constrained (series I) and rotationally unconstrained (series II) posterior pull-out tests. In the constrained tests the pedicle screw was the strongest implant, with an average pull-out force of 1650 N (SD 623 N). The prototype hook was comparable, with an average failure load of 1530 N (SD 414 N). The average pull-out force of the USS hook with one screw was 910 N (SD 243 N), not significantly different to the CD hook's average failure load of 740 N (SD 189 N). The result of the unconstrained tests were similar, with the prototype hook being the strongest device (average 1617 N, SD 652 N). However, in this series the difference in failure load between the USS hook with one screw and the CD hook was significant. Average failure loads of 792 N (SD 184 N) for the USS hook and 464 N (SD 279 N) for the CD hook were measured. A pedicular fracture in the plane of the fixation screw was the most common failure mode for USS hooks.(ABSTRACT TRUNCATED AT 250 WORDS)
Abstract: Three different internal fixateurs ("Dick", "Kluger", "SOCON") were investigated in an in-vitro setting. The systems showed nearly identical deformation under physiological loads. A new definition for the stabilizing capacity indicated a distinct weakness under compressive and torsional loading. In order to avoid early failure of the implant and/or the vertebra-implant interface bracing and a restricted mobilisation is recommended until healing of the fracture/fusion has taken place.
Abstract: Most techniques in segmental spinal fixation surgery rely on the identification of predefined targets with the help of anatomical landmarks and on intraoperative use of image intensifiers. However, because there is no direct link between the image information, the accessible spinal anatomy, and the action of surgical instruments several potential problems and possible complications are still involved. A novel system for spinal surgery has been designed allowing for the real-time, intraoperative localization of surgical instruments in medical images. In practice this was achieved by combining image-guided stereotaxis with advanced optoelectronic position sensing techniques. Modules were developed for image data processing, surgical planning and simulation, and various intraoperative procedures. A detailed validation of the system was performed indicating an overall accuracy to be better than the slice distance of the spinal image used. In an in-vitro setting 20 pilot holes for pedicle screws were prepared in human cadaveric lumbar spines. An analysis in 77 histological cuts showed an ideal location in 70 and only minor cortex engagement in seven sections. In vivo the system has been successfully applied in three posterior low lumbar stabilizations with overall 15 transpedicular screws. RELEVANCE--:This article focuses on the clinical evaluation of a computer-assisted surgery system and its application to the operating theatre for transpedicular fixation of the spine. The given approach effectively keeps the surgeon 'in the loop' and requires only minor modifications of the established surgical techniques and associated instruments. The results of this study indicate that advanced computer-assisted techniques may significantly improve the accuracy and safety of surgical interventions of the spine. The proposed technique may in future be adapted to other applications in orthopaedic surgery.
Abstract: A computer-assisted system allowing precise preoperative planning and real-time intraoperative image localization of surgical instruments is tested in a laboratory setup.
Abstract: In the present study, a biomechanical in-vitro experimental design for assessing lumbar instability following discectomy had been complemented by computer simulation of the muscular influence. The most impressive changes of the instability parameters chosen, i.e., mobility (flexibility) and neutral zone, occurred in respect of the study movement directions Ty, Tz and Mx (lumbar disc height, anterior/posterior dislocation, and flexion/extension). The influence of the multifidus muscle had enabled the flexion/extension neutral zone changes to be offset. Flexibility (+/- Rx) was found to have been influenced to a minor degree.
Abstract: The three-dimensional stability provided by three spinal fixation devices of the type "fixateur interne" have been studied in an in vitro model using L2-L4 sections of the lumbar spine. Three-dimensional rotations and translations for the intact and instrumented spine under physiological loads in flexion/extension, lateral bending, and axial rotation were determined. To objectify the results, a dimensionless related stability parameter was introduced. The tested devices were: Dick (AO-Synthes), Kluger (Endotec), and SOCON (Aesculap). In addition a vertebrectomy L3 was performed to simulate a severe fracture model. Different screw diameters allowed for a direct comparison of two internal fixateur systems on identical specimens. In contrast to the intact spine, the instrumented spine reflects purely linear structural behaviour with a stabilization significant in flexion/extension and lateral bending and only moderate in axial rotation. Differences for various systems tested were found to be small. The results for the fracture model confirmed the efficiency of these internal fixation devices.
Abstract: Employing the segmented arch technique, specifically designed loops are employed to bring about sufficient force and turning moments to achieve a purely translatory retraction. Most importantly, the moment to force ration (M/F) is determined by the occluso-gingival height, but, as there are intraoral limitations to the spring height, the maximum possible M/F is also limited. Consequently the M/F is no longer constant and activation of the loop to achieve a specific M/F can become critical. This potential problem can be overcome by the use of highly flexible wires, particularly those made of the superelastic alloy nickel titanium. The data presented in this study result from calculations arrived at with the help of a plane numerical model of pseudoelasticity which in turn is based on the finite element method. The calculations are compared with those resulting from experimentations using the orthodontic measurement and simulation system. A variation in the different parameters led to the design of a T-loop with a height and an apical length of 10 mm each. A T-segment made of superelastic NiTi alloy Sentalloy (0.016" x 0.022") was joined to steel horizontal arms. This loop produces a constant M/F ratio of -7 mm and requires no uprighting bends. The range of activation is approximately 15 mm. A superelastic plateau was calculated between an activation of 10.5 mm and 2.5 mm, with a distalizing force from 0.9 N to 0.5 N. The experimental values corresponded to the numerical data. The clinical application of the superelastic T-loop is thus demonstrated.
Abstract: APLD is considered as the last step of conservative treatment for lumbar disc herniation assuming that a negative biomechanical effect of APLD is not expected. Biomechanical effects of APLD were investigated in comparison to open discectomy. APLD decreased disc height less than open discectomy and increased instability and flexibility less. The position of the center of rotation was not significantly altered.
Abstract: Thoracolumbar compression-fractures were performed in an in-vitro model with a deformity of 9.7 degrees and 12.3 degrees. After stabilisation of the fracture additional soft tissue injuries were carried out by dissection of the posterior ligaments and ruptures of the nucleus and annulus of the intervertebral disc. The disc injuries led to a significant instability. The degree of kyphotic deformation showed the most distinct influence on torsion with an increase in range of motion of 64% (9.7 degrees) versus 181% (12.3 degrees).
Abstract: The effects of multilevel cervical laminaplasty and laminectomy with increasing amounts of facetectomy on stability of the cervical spine were tested with physiologic loading in nine cadaveric specimens. Cervical spines, levels C2-C7, were tested with physiologic loading in a constraint-free test system, the motion of each body being tracked in a three-dimensional coordinate system. Cervical laminectomy with 25% or more facetectomy resulted in a highly significant increase in cervical motion compared to the intact specimens for the dominant motions of flexion/extension (P < 0.003), axial torsion (P < 0.001), and lateral bending (P < 0.001). Cervical laminaplasty was not significantly different from the intact control, except for a marginal increase in axial torsion. Coupled motion did not change with laminaplasty or laminectomy with progressive facetectomy. As little as 25% facetectomy adversely affects stability after multilevel cervical laminectomy. Cervical laminaplasty avoids this problem, while still affording multilevel decompression. Therefore in patients undergoing cervical laminectomy accompanied by more than 25% bilateral facetectomy, concurrent arthrodesis should be performed.
Abstract: In orthodontic treatment malpositions of teeth are often corrected by fixed appliances, consisting, in part, of loops made by the orthodontist. The most important alloys in use are steel, cobalt-chromium, or titanium-molybdenium alloys. The static force systems of fixed appliances made of these materials are well known from experimental and numerical studies, but as they may change during tooth movement, we are often confronted with problems in therapy. The introduction of pseudoelastic nickel titanium alloys (NiTi) into orthodontic treatment, offers the chance of improving the effectiveness and reliability of orthodontic devices. In the present paper a plane finite element (FE) for the analysis of orthodontic loops is presented. It enables the determination of the nonlinear behaviour of pseudoelastic NiTi-alloys and is capable of simulating large structural displacements and rotations accompanied by moderate strains. A comparative numerical and experimental study shows the efficiency of this element. The associated results reflect pseudoelastic effects on certain loop designs, and reveal the benefits for the orthodontist and his patients.
Abstract: The occipito-atlanto-axial joint is the most complex one of the human spine. Traumatic or inflammatory lesions in this region may lead to instability and neurological symptoms of clinical importance. This study reports the results of anatomical and biomechanical examination of 13 human upper cervical spine specimens and focuses on the viscoelastic behavior of the alar and transverse ligaments. Non-destructive tensile testing was performed on a uniaxial testing machine with 25 alar and 11 transverse ligaments at three different load rates of 0.1 mm/s, 1.0 mm/s, and 10.0 mm/s. The ligaments were further tested for relaxation over 300s. Each ligament exhibited an initial neutral zone in which no tensile force could be measured during cyclic testing. This neutral zone was more significant in the alar ligaments than in the transverse ligaments with respect to the measured in situ length of the ligaments (11.2 vs 18.1 mm on average). Increasing axial deformation led to increased load in all ligaments. Hysteresis, i.e., the energy loss exhibited by viscoelastic material subjected to loading and unloading cycles, increased with higher displacement rates and higher tensile forces. In neutral position the alar ligaments were lax in all specimens. During axial rotation both alars tightened. Ligamentous resistance increased as the end of the range of motion (ROM) was approchaed during rotation. The neutral zone explains the laxity of the ligaments in midposition and allows mobility of the upper cervical spine with minimum expenditure of muscular energy. The ligaments become stiffer under higher loads and therefore contribute to a limitation of the ROM in the occipitio-atlanto-axial joint.
Abstract: Various methods of lumbosacral fusions for the treatment of degenerative spinal diseases are used clinically. Results vary greatly depending on indication, type of fusion, implants, and method of evaluation. In a retrospective clinical and radiological examination after an average follow-up time of 3.9 years this study reports on the outcome of lumbosacral distraction spondylodesis (LSDS) in a consecutive series of 147 patients being fused for the treatment of spondylolisthesis, failed-back syndrome, or lumbar instability. LSDS consists of a posterolateral fusion together with an autologous corticocancellous H-graft wedged under distraction between the spinous processes of L4 and S1. With 81.0% good and excellent results this noninstrumented fusion technique showed the best outcome in patients with spondylolisthesis, while in cases with a failed-back syndrome or lumbar instability only 62.3% excellent to satisfying outcomes were noted. The rate of pseudarthrosis was 13.6% in the whole patient group; no major complications such as nerve root damage, postoperative neurological deficits, or spinal stenosis were found.
Abstract: The in vitro effect of nucleus pulposus removal from human lumbar FSU's was investigated in a special test apparatus. Instability was determined by ROM, loss of disc height and displacement of the center of rotation. Disc height showed a decrease of 3.2 mm under axial load (700N). ROM increased up to 70%. The center of rotation demonstrated a distinct displacement in extension and lateral bending.
Abstract: The three-dimensional (3-D) morphology of lumbar spinal ligaments was studied using 22 functional spinal units. A specially constructed 3-D morphometer instrument was used for quantitative measurements of each ligament's attachment point locations, origins and insertions, and attachments to the lower and upper vertebral bodies, respectively. Lengths and orientations of the ligaments according to the vertebral level were then computed and presented in reference to a local anatomic coordinate system. Associated cross-sectional areas are also obtained.
Abstract: Understanding injury mechanisms is important for the prevention, diagnosis, and treatment of spinal injuries. Using 10 fresh cadaveric human spine specimens of occiput to C3, clinically similar injuries of the atlas (C1) were produced with high-speed (4.4 m/sec) axial compression. The traumatic event was biomechanically monitored. The resulting injuries were studied with radiography, computed tomography, and a multidirectional instability test. The average compressive failure force was 3,050 N for specimens impacted in neutral posture (n = 437) and 2,100 N for those in extended posture (n = 282). Corresponding values for the impulse were 34.9 Nsec (n = 8.3) and 17.6 Nsec (n = 1.8). Average instability for both groups, as measured by the neutral zone and range of motion, increased by 90% and 44%, respectively, in flexion-extension and 20% in lateral bending, but not in axial rotation. These findings confirm the clinical observations.
Abstract: Atlas injuries were produced in vitro and evaluated by radiographic examinations and anatomic studies from a clinical viewpoint. Ten cadaveric human upper cervical spine specimens were subjected to a high-speed axial impact. Injuries to the atlas consisted of six bursting fractures, two ruptures of the transverse ligament, one four-part fracture without a prominent bursting, and one posterior arch fracture. The major soft tissue injury involved the transverse ligament. There were five bony avulsions and three midsubstance tears. In this study, computed tomographic examinations clearly demonstrated the sites of fracture and bony avulsions of the transverse ligament. The best diagnostic tool for function of the transverse ligament was determined to be the atlantodental interval on flexion radiographs. Axial traction force reduced a bursting fracture of the atlas ring. The in vitro atlas injury model gives useful information for clinical diagnosis and treatment.
Abstract: In this study the derivation of a two-dimensional mathematical model of the human lumbar spine and its approximate solution using the method of finite elements is described. The computer model LUSP (Lumbar Spine) serves as a basis for studying the kinematic and load-bearing behaviour of the lumbar spine. The underlying working hypothesis is that the smallest spinal unit, the so called functional spinal unit (Junghanns, reflects the basic characteristic behaviour of the musclefree spine. On the basis of Lagrange's virtual work principle the nonlinear static and dynamic equations of motion for a sagitally symmetrical spine model of comprising rigid bodies, springs, beams and dampers are derived. The finite element method is used as an appropriate approximation scheme. Intensive research was conducted to provide the necessary geometrical and material input data. Special attention was paid to achieving a realistic description of the nonlinear stress-strain relationships for the soft tissue involved. A database-type preprocessor and a graphics-oriented postprocessor are made for convenient handling of the input and output data. The efficiency of the present computer model is demonstrated by means of an orthopaedic-biomechanical study on degenerative phenomena in so-called juxta-fused lumbosacral motion segments.
Abstract: To analyze mechanical properties of a lumbar functional unit a mathematical simulation model was developed. Using this model in different lumbar fusions immediate postoperative and secondary stability was analysed. Stability of different interbody and posterior fusions was compared looking at different techniques of operation an instrumentation. The calculation showed best results in the combination of posterolateral fusion with interspinal distraction or transpedicular screw instrumentation. These showed well-balanced load carrying properties primarily and high secondary stability.
