Polhemus EM tracked Micro Sensor for CT-guided interventions

Miniaturized electromagnetic tracking enables efficient ultrasound-navigated needle insertions

Ultrasound (US) has gained popularity as a guidance modality for percutaneous needle insertions because it is widely available and non-ionizing. However, coordinating scanning and needle insertion still requires significant experience. Current assistance solutions utilize optical or electromagnetic tracking (EMT) technology directly integrated into the US device or probe. This results in specialized devices or introduces additional hardware, limiting the ergonomics of both the scanning and insertion process. We developed the first ultrasound (US) navigation solution designed to be used as a non-permanent accessory for existing US devices while maintaining the ergonomics during the scanning process. A miniaturized EMT source is reversibly attached to the US probe, temporarily creating a combined modality that provides real-time anatomical imaging and instrument tracking at the same time. Studies performed with 11 clinical operators show that the proposed navigation solution can guide needle insertions with a targeting accuracy of about 5 mm, which is comparable to existing approaches and unaffected by repeated attachment and detachment of the miniaturized tracking solution. The assistance proved particularly helpful for non-expert users and needle insertions performed outside of the US plane. The small size and reversible attachability of the proposed navigation solution promises streamlined integration into the clinical workflow and widespread access to US navigated punctures.

An EM-Tracked Approach for Calibrating the 3D Pose of Flexible Endoscopes

Flexible endoscopes are ideal instruments for visualizing and diagnosing the inner surfaces of organs via a minimally invasive incision. Calibrating a flexible endoscope is a troublesome yet inevitable process in image-based tools tracking. Aiming to simplify the calibration process, we propose an electromagnetic (EM)-tracked calibration approach that does not require any predefined poses of the EM sensor. A three-stage calibration protocol was presented in an extensor. First, the orientation of the endoscope tube was derived by conducting a circular rotation of the endoscope around its axis utilizing a pair of tightly bearing stands. Second, the 3D position of the endoscope tip was acquired by having the tip come into contact with a flat plane. Third, the pose model of the bending section was derived and transformed into the local coordinate system of the EM sensor attached to the endoscope handle. To assess the accuracy of the proposed calibration approach, two experiments were designed and performed. Experimental results indicate accuracies of 0.09 ± 0.06 deg and 0.03 ± 0.19 deg in the estimation of the endoscope tube orientation and 0.52 ± 0.29, 0.33 ± 0.11, and 0.29 ± 0.17 mm in the x, y, and z estimations of the endoscope tip position, respectively. The proposed approach is accurate and easy to operate, does not require the employment of custom calibration markers, and can be used not only in surgical training systems but also in the endoscopic-based tools tracking.

Range of motion after 1, 2, and 3 level cervical disc arthroplasty

Background

Motion of a solid body involves translation and rotation. Few investigations examine the isolated translational and rotational components associated with disc arthroplasty devices. This study investigates single- and multi-level cervical disc arthroplasty with respect to index and adjacent level range of motion. The investigators hypothesized that single- and multilevel cervical disc replacement will lead to comparable or improved motion at implanted and adjacent levels.

Methods

Seven human cervical spines from C2 to C7 were subjected to displacement-controlled loading in flexion, extension, and lateral bending under intact, 1-Level (C5-C6), 2-Level (C5-C6, C6-C7) and 3-Level (C5-C6, C6-C7, C4-C5) conditions. 3D motions sensors were mounted at C4, C5, and C6. Motion data for translations and rotations at each level for each surgical condition and loading mode were compared to intact conditions.

Results

1-Level: The index surgery resulted in statistically increased translations in extension and lateral bending at all levels with statistically increased translation observed in flexion in the superior and inferior levels. In rotation, the index surgeries decreased rotation under flexion, with remaining levels not statistically different to intact conditions.

2-Level

A device placed inferiorly resulted in statistically increased translations at all levels in extension with statistically increased translations superior and inferior to the index level in flexion. Lateral bending resulted in increased nonsignificant translations. Rotations were elevated or comparable to the intact level for all loading.

3-Level

Translations were statistically increased for all levels in all loading modes while rotations were elevated or were comparable to the intact level for all loading modes and levels.

Conclusions

Micromotion sensors permitted monitoring and recording of small magnitude angulations and translations using a loading mechanism that did not over constrain cervical segmental motion. Multilevel cervical disc arthroplasty yielded comparable or increased overall motion at the index and adjacent levels compared to intact conditions.

ArthroNavi framework: stereo endoscope-guided instrument localization for arthroscopic minimally invasive surgeries

Significance

As an example of a minimally invasive arthroscopic surgical procedure, arthroscopic osteochondral autograft transplantation (OAT) is a common option for repairing focal cartilage defects in the knee joints. Arthroscopic OAT offers considerable benefits to patients, such as less post-operative pain and shorter hospital stays. However, performing OAT arthroscopically is an extremely demanding task because the osteochondral graft harvester must remain perpendicular to the cartilage surface to avoid differences in angulation.

Aim

We present a practical ArthroNavi framework for instrument pose localization by combining a self-developed stereo endoscopy with electromagnetic computation, which equips surgeons with surgical navigation assistance that eases the operational constraints of arthroscopic OAT surgery.

Approach

A prototype of a stereo endoscope specifically fit for a texture-less scene is introduced extensively. Then, the proposed framework employs the semi-global matching algorithm integrating the matching cubes method for real-time processing of the 3D point cloud. To address issues regarding initialization and occlusion, a displaying method based on patient tracking coordinates is proposed for intra-operative robust navigation. A geometrical constraint method that utilizes the 3D point cloud is used to compute a pose for the instrument. Finally, a hemisphere tabulation method is presented for pose accuracy evaluation.

Results

Experimental results show that our endoscope achieves 3D shape measurement with an accuracy of < 730    μ m . The mean error of pose localization is 15.4 deg (range of 10.3 deg to 21.3 deg; standard deviation of 3.08 deg) in our ArthroNavi method, which is within the same order of magnitude as that achieved by experienced surgeons using a freehand technique.

Conclusions

The effectiveness of the proposed ArthroNavi has been validated on a phantom femur. The potential contribution of this framework may provide a new computer-aided option for arthroscopic OAT surgery.

Three-dimensional motion of the toes with simulated contraction of individual toe flexors and extensors: A cadaver study

BACKGROUND

The primary motion of the toes is flexion and extension. The motion results from activity of multiple muscles, and toe disorders may result from muscle dysfunction. The relationships of specific muscles related to toe function is underreported. The purpose of this study was to quantitatively evaluate three-dimensional toe motion resulting from specific muscle contraction using cadavers.

METHODS

Three-dimensional joint movements of the 1st, 2nd, and 5th toe were produced by applying traction of individual muscles using six Thiel-embalmed cadaver legs. The traction increments were 3 mm, 6 mm, and 9 mm, during which the angle of the distal bone with respect to the proximal bone of each toe joint was measured using a magnetic tracking system.

RESULTS

As tendon traction distance increased, the angular measure of the distal bone with respect to the proximal bone at each toe joint increased linearly and three-dimensionally. The flexor hallucis brevis significantly pronated and abducted the 1st toe compared to the extensor hallucis longus and brevis. The flexor digitorum brevis significantly supinated and adducted the 2nd toe compared to the flexor digitorum longus and quadratus plantae, while the extensor digitorum brevis demonstrated significant pronation and abduction compared to the extensor digitorum longus.

CONCLUSIONS

Three intrinsic muscles produced significant toe motion in frontal and horizontal planes. Our results revealed that there was a proportional relationship between tendon excursion and joint angle, and an antagonistic relationship of muscles acting on the toes. These results can be considered regarding pathogenesis of toe disorders or deformity and regarding treatment such as exercise therapy or tendon transfer.

LEVEL OF EVIDENCE

V, cadaveric study.

Three-dimensional motion analysis of the hindfoot resulting from simulated contraction of individual lower leg muscles utilizing Thiel-embalmed cadavers

BACKGROUND

Joint movement within the foot is complex involving multiple muscles. We evaluated three-dimensional movement of the hindfoot through simulated traction of extrinsic tendons of the foot.

METHODS

Six Thiel-embalmed cadavers were utilized and thread was sutured to each tendon of the lower leg muscles. Traction of the thread was prescribed and the change of calcaneal position used to quantify foot motion was measured for each increment using a magnetic tracking system.

RESULTS

As the tendon traction length advanced, the angle of the calcaneus with respect to the tibia increased linearly. Eversion and abduction angles due to extensor digitorum longus (EDL) traction were significantly greater than that due to the peroneus longus. Plantarflexion due to Achilles tendon traction was significantly greater than that of other plantarflexors.

CONCLUSIONS

Our results demonstrated three-dimensional characteristics of hindfoot motion by simulated muscle contraction and importance of EDL as an evertor. These information should be applicable for tendon transfer procedures around the ankle and physical therapy for ankle dysfunction such as chronic ankle instability.

Compensating for Soft-Tissue Artifact Using the Orientation of Distal Limb Segments During Electromagnetic Motion Capture of the Upper Limb

Most motion capture measurements suffer from soft-tissue artifacts (STA). Especially affected are rotations about the long axis of a limb segment, such as humeral internal-external rotation (HIER) and forearm pronation-supination (FPS). Unfortunately, most existing methods to compensate for STA were designed for optoelectronic motion capture systems. We present and evaluate a STA compensation method that 1) compensates for STA in HIER and/or FPS, 2) is developed specifically for electromagnetic motion capture systems, and 3) does not require additional calibration or data. To compensate for STA, calculation of HIER angles rely on forearm orientation, and calculation of FPS angles rely on hand orientation. To test this approach, we recorded whole-arm movement data from eight subjects and compared their joint angle trajectories calculated according to progressive levels of STA compensation. Compensated HIER and FPS angles were significantly larger than uncompensated angles. Although the effect of STA compensation on other joint angles (besides HIER and FPS) was usually modest, significant effects were seen in certain DOF under some conditions. Overall, the method functioned as intended during most of the range of motion of the upper limb, but it becomes unstable in extreme elbow extension and extreme wrist flexion-extension. Specifically, this method is not recommended for movements within 20° of full elbow extension, full wrist flexion, or full wrist extension. Since this method does not require additional calibration of data, it can be applied retroactively to data collected without the intent to compensate for STA.

Technological advancements in the analysis of human motion and posture management through digital devices

Technological development of motion and posture analyses is rapidly progressing, especially in rehabilitation settings and sport biomechanics. Consequently, clear discrimination among different measurement systems is required to diversify their use as needed. This review aims to resume the currently used motion and posture analysis systems, clarify and suggest the appropriate approaches suitable for specific cases or contexts. The currently gold standard systems of motion analysis, widely used in clinical settings, present several limitations related to marker placement or long procedure time. Fully automated and markerless systems are overcoming these drawbacks for conducting biomechanical studies, especially outside laboratories. Similarly, new posture analysis techniques are emerging, often driven by the need for fast and non-invasive methods to obtain high-precision results. These new technologies have also become effective for children or adolescents with non-specific back pain and postural insufficiencies. The evolutions of these methods aim to standardize measurements and provide manageable tools in clinical practice for the early diagnosis of musculoskeletal pathologies and to monitor daily improvements of each patient. Herein, these devices and their uses are described, providing researchers, clinicians, orthopedics, physical therapists, and sports coaches an effective guide to use new technologies in their practice as instruments of diagnosis, therapy, and prevention.

Tracking Joint Angles During Whole-Arm Movements Using Electromagnetic Sensors

Electromagnetic (EM) motion tracking systems are suitable for many research and clinical applications, including in vivo measurements of whole-arm movements. Unfortunately, the methodology for in vivo measurements of whole-arm movements using EM sensors is not well described in the literature, making it difficult to perform new measurements and all but impossible to make meaningful comparisons between studies. The recommendations of the International Society of Biomechanics (ISB) have provided a great service, but by necessity they do not provide clear guidance or standardization on all required steps. The goal of this paper was to provide a comprehensive methodology for using EM sensors to measure whole-arm movements in vivo. We selected methodological details from past studies that were compatible with the ISB recommendations and suitable for measuring whole-arm movements using EM sensors, filling in gaps with recommendations from our own past experiments. The presented methodology includes recommendations for defining coordinate systems (CSs) and joint angles, placing sensors, performing sensor-to-body calibration, calculating rotation matrices from sensor data, and extracting unique joint angles from rotation matrices. We present this process, including all equations, for both the right and left upper limbs, models with nine or seven degrees-of-freedom (DOF), and two different calibration methods. Providing a detailed methodology for the entire process in one location promotes replicability of studies by allowing researchers to clearly define their experimental methods. It is hoped that this paper will simplify new investigations of whole-arm movement using EM sensors and facilitate comparison between studies.

Assessment of Position Repeatability Error in an Electromagnetic Tracking System for Surgical Navigation

In this paper we present a study of the repeatability of an innovative electromagnetic tracking system (EMTS) for surgical navigation, developed to overcome the state of the art of current commercial systems, allowing for the placement of the magnetic field generator far from the operating table. Previous studies led to the development of a preliminary EMTS prototype. Several hardware improvements are described, which result in noise reduction in both signal generation and the measurement process, as shown by experimental tests. The analysis of experimental results has highlighted the presence of drift in voltage components, whose effect has been quantified and related to the variation of the sensor position. Repeatability in the sensor position measurement is evaluated by means of the propagation of the voltage repeatability error, and the results are compared with the performance of the Aurora system (which represents the state of the art for EMTS for surgical navigation), showing a repeatability error about ten times lower. Finally, the proposed improvements aim to overcome the limited operating distance between the field generator and electromagnetic (EM) sensors provided by commercial EM tracking systems for surgical applications and seem to provide a not negligible technological advantage.