Analysis of changes in the scoliotic spine using a three-dimensional radiographic technique

A semi-automated method using interpolation and optimisation for the 3D reconstruction of the spine from bi-planar radiography: a precision and accuracy study

The 3D reconstruction of the spine in upright posture can be obtained by bi-planar radiographic methods, developed since the 1970s. The principle is to identify 4-25 anatomical landmarks per vertebrae and per images. This identification time is hardly manageable in clinical practice. A semi-automated method is used: 3D standard vertebral models are positioned along with a 3D curve (identified all the way through the vertebral bodies). The silhouettes of the models of C7 and L5 vertebrae are first adjusted and the positions of the other vertebrae are interpolated and optimised. The inter- and intra-operator variabilities and the errors between the semi-automated method and the manual identification of six anatomical landmarks per vertebra are evaluated on 20 pairs of X-ray images of subjects with different spinal deformities. The identification time for the semi-automated method is 5 min. For scolitic subjects, the precision is under 2.2 degrees and the accuracy is under 3.2 degrees for all lateral, sagittal and axial rotations.

A semi-automated method using interpolation and optimisation for the 3D reconstruction of the spine from bi-planar radiography: a precision and accuracy study

The 3D reconstruction of the spine in upright posture can be obtained by bi-planar radiographic methods, developed since the 1970s. The principle is to identify 4-25 anatomical landmarks per vertebrae and per images. This identification time is hardly manageable in clinical practice. A semi-automated method is used: 3D standard vertebral models are positioned along with a 3D curve (identified all the way through the vertebral bodies). The silhouettes of the models of C7 and L5 vertebrae are first adjusted and the positions of the other vertebrae are interpolated and optimised. The inter- and intra-operator variabilities and the errors between the semi-automated method and the manual identification of six anatomical landmarks per vertebra are evaluated on 20 pairs of X-ray images of subjects with different spinal deformities. The identification time for the semi-automated method is 5 min. For scolitic subjects, the precision is under 2.2 degrees and the accuracy is under 3.2 degrees for all lateral, sagittal and axial rotations.

A versatile 3D reconstruction system of the spine and pelvis for clinical assessment of spinal deformities

This paper presents a three-dimensional (3D) reconstruction system of the human spine for the routine evaluation of musculoskeletal pathologies like idiopathic scoliosis. The main objective of this 3D reconstruction system is to offer a versatile and robust tool for the 3D analysis of spines in any healthcare centre with standard clinical setup using standard uncalibrated radiographic images. The novel system uses a self-calibration algorithm and a weak-perspective method to reconstruct the 3D coordinates of anatomical landmarks from bi-planar radiographic images of a patient's trunk. Additionally, a small planar object of known dimensions is proposed to warrant an accurately scaled model of the spine. In order to assess the validity of the 3D reconstructions yielded by the proposed system, a clinical study using 60 pairs of digitized X-rays of adolescents was conducted. The subject cohort in the study group was composed of 51 scoliotic and 9 non-scoliotic patients, with an average Cobb angle on the frontal plane of 25 degrees. For each case, a 3D reconstruction of the spine and pelvis was obtained with the previous system used at our hospital (which requires a positioning apparatus and a calibration jacket), and with the proposed method. Results show that 3D reconstructions obtained with the new system using uncalibrated X-ray images yield geometrically accurate models with insignificant differences for 2D and 3D clinical indexes commonly used in the evaluation of spinal deformities. This demonstrates the system to be a viable and accurate tool for clinical studies and biomechanical analysis purposes, with the added advantage of versatility to any clinical setup for routine follow-ups and surgical planning.

Correction of flexible thoracic scoliosis below 65 degrees--a radiological comparison of anterior versus posterior segmental instrumentation applied to similar curves

Direct comparison of the correction of scoliosis achieved by different surgical methods is usually limited by the heterogeneity of the patients analyzed (their age, curve pattern, curve magnitude, etc.). The hypothesis is that an analysis of comparable scoliotic curves treated by different implant systems could detect subtle differences in outcome. The objective of this study was therefore: (1) to measure the 3D radiological parameters of scoliotic deformity and to quantify their postoperative changes, and (2) to compare the radiographic results achieved with one anterior and one posterior instrumentation methods applied to similar curves but representing different mechanisms of correction.

MATERIAL AND METHODS

The clinical notes and radiographs of 46 patients operated on for adolescent idiopathic scoliosis were reviewed. The inclusion criteria consisted of: a single thoracic curve, right convex, a frontal Cobb angle minimum of 45 degrees and a maximum of 65 degrees , flexibility on a lateral bending test of more than 30%, and a Risser test value of between 1 and 4. The operative procedures were: Cotrel-Dubousset instrumentation (CDI) for 25 patients (the CD group) and correction by anterior instrumentation (Pouliquen plate) for 21 patients (the ANT group). Preoperative and postoperative long cassette standing antero-posterior and lateral radiographs were examined. The frontal and sagittal thoracic Cobb angle, apical vertebra transposition (AVT), apical vertebra rotation (AVR), lowest instrumented vertebra (LIV) tilt, C7 vertebra shift and rib cage shift (RCS) were all compared. A computed reconstruction was produced with Rachis-91 software. Vertebral axial rotation angle was evaluated throughout the spine.

RESULTS

Postoperative assessment revealed a mean correction of the frontal Cobb angle of 37.0 degrees for the CD group and 41.0 degrees for the ANT group. The AVT operative correction was 45.8 and 42.7 mm, respectively, and AVR correction was 1.8 and 12.6 degrees , respectively. The postoperative change of the sagittal Th4-Th12 Cobb angle was not significant for any method but it was significant (P=0.05) for the CD group if the curves were divided preoperatively into hypokyphotic and normokyphotic subgroups and then analyzed separately. Computed assessment demonstrated a correction of segmental axial rotation of more than 50% in the main thoracic curve in the ANT group, significantly more than that in the CD group (P<0.001).

CONCLUSIONS

Anterior instrumentation provided better correction of the vertebral axial rotation and of the rib hump. CD instrumentation was more powerful in translation and more specifically addressed the sagittal plane: the postoperative thoracic kyphosis angle increased in the hypokyphotic curves and slightly decreased in the normokyphotic curves.

Validation of the relative 3D orientation of vertebrae reconstructed by bi-planar radiography

The three dimensional (3D) reconstruction of the spine can be obtained by stereoradiographic techniques. To be safely used on a routine clinics basis, stereoradiography must provide both accurate vertebral shape and coherent position. Although the accuracy of the reconstructed morphology of the vertebrae is well documented, only few authors studied the accuracy of the vertebral orientation. Therefore, this paper focuses on the evaluation of the orientation accuracy of the reconstructed vertebrae (obtained by non-stereo corresponding point technique) considering either a 178 point vertebral model or a 6 point vertebral model (previously proposed in the literature). Five dried vertebrae were fixed on holders containing four markers each. The 3D reconstruction of both vertebrae and markers were obtained by stereoradiographic techniques. Using least square method matching from one position to another, the relative orientation was computed for the vertebral models (6 or 178 points) and the four markers. These vertebral and holder orientations were compared (considering the holder's one as reference). The repeatability of these relative orientations (vertebrae and holders) was also evaluated. The mean (RMS) orientation error of 178 point vertebral model was 0.6 degrees (0.8 degrees ), for lateral rotation, 0.7 degrees (1.0 degrees ) for sagittal rotation and 1.4 degrees (1.9 degrees ) for axial rotation. The intra-observer repeatability was 0.5 degrees (0.7 degrees ) for lateral rotation, 0.7 degrees (0.8 degrees ) for sagittal rotation and 0.9 degrees (1.2 degrees ) for axial rotation. The orientation was found more accurate and precise when using the 178 point vertebral model than when using the basic 6 point vertebral model. The relative orientation (in post-operative follow-up with respect to the pre-operative examination) of the vertebrae of one scoliotic patient was performed as an example of clinical application. The stereoradiographic method is a reliable 3D quantitative tool to assess the spine deformity, that can be used in clinics for the follow-up of scoliotic patients.

Correlation between nucleus zone migration within scoliotic intervertebral discs and mechanical properties distribution within scoliotic vertebrae

Correlations between intervertebral disc degeneration and bone mass were investigated previously, but never on scoliotic patients. Using MRI measurements of intervertebral discs behavior and vertebral bone tomodensitometry, correlations between nucleus zone displacement within intervertebral discs and mechanical center migration within vertebral bodies were investigated in vivo on scoliotic patients. The protocol, performed on eleven scoliotic girls, was composed of a CT scan acquisition of apical and adjacent vertebrae followed by a MRI acquisition of the thoracolumbar spine. The displacement between the vertebral body centroid and inertia center was computed from the CT images and called the mechanical migration. The displacement between nucleus zones and vertebral body centroids was quantified from MRI and called the nucleus zone migration. For apical vertebrae, a significant correlation was found in the coronal plane (r = 0.766, p < 0.01), but not in the sagittal plane (r = -0.349, p > 0.05). For adjacent vertebrae, significant correlations were found in both coronal (r = -0.633, p < 0.05) and sagittal (r = -0.797, p < 0.01) planes. The nucleus zone migration occurred in the convexity of the curvature whereas the mechanical migration occurred in the concavity.Known secondary mechanical phenomenon of scoliosis was quantified using new parameters describing intervertebral discs and vertebral bodies. Further investigations should be performed to explain the mechanical evolution of scoliosis and to use these parameters in predictive criteria of scoliosis.

Explicit calibration method and specific device designed for stereoradiography

The three-dimensional geometry of the human spine is noteworthy information that can be obtained by stereoradiographic methods. These methods are based on the identification of anatomical structures in several views which are obtained by rotation of a patient standing on a turntable. Calibration algorithms for computer vision or photogrammetry are well documented, but they generally yield calibration devices which are cumbersome for the use in clinical stereoradiography. This paper presents a calibration method adapted to a two-view stereoradiography calibration (frontal and lateral incidences) and based on a simplified geometric modeling of the radiological environment. The a priori knowledge yields four calibration equations related to the vertical and horizontal planes of both views, leading to a specific calibration procedure and device. Moreover this device is attached to the stereoradiographic system (directly integrated on the turntable) in order to facilitate clinical applications. A validation was performed on 26 dried lumbar vertebrae in order to evaluate clinical situation. The mean accuracy of the stereoradiographic reconstruction was 1.2mm.

Tomodensitometry measurements for in vivo quantification of mechanical properties of scoliotic vertebrae

OBJECTIVE

This in vivo study investigated the mechanical properties of scoliotic vertebrae especially in the apical zone.

DESIGN

A method based on computed tomography images and finite element meshing had been developed to quantify and visualise the bone density distribution of scoliotic vertebrae.

BACKGROUND

Most of scoliotic studies performed considered only geometrical parameters.

METHOD

Computed tomography examination had been performed on 11 girls presenting idiopathic scoliosis. Using in-house image processing software and the pre-post processor Patran, a finite element mesh of each vertebral body and a mapping of each cancellous bone slice were proposed allowing the bone density distribution to be visualised. The mechanical properties were derived from predictive relationships between Young's modulus and computed tomography number. Geometrical (unit mass) and mechanical centres were calculated and compared in order to quantify the role of mechanical property distribution on the apex zone of the scoliotic spine.

RESULTS

In the coronal plane, compared to the geometrical centre, the mechanical centre was shifted forward in the concavity (0.54 mm) of the curvature except for two vertebrae. In the sagittal plane, the mechanical centre was shifted forward in the back (0.26 mm) except for three vertebrae. The shift forward by slice was made in a same way for each slice (0.63 mm), except at the end plates (0.58 mm).

DISCUSSION

The result values obtained were small but significant because the curvatures were low and the vertebrae were not wedged. Besides, one can observe that the scoliotic deformation evolution seemed to modify the mechanical property distribution.

RELEVANCE

This study suggested the following question: Could these CT measurements be a predictive tool in scoliosis treatment?

Curvilinear Three-Dimensional Modeling of Spinal Curves with Dual Kriging

In spinal deformation studies, three-dimensional reconstruction of the spine is frequently represented as a curve in space fitted to the vertebral centroids. Conventional interpolation techniques such as splines, Bezier and the least squares method are limited since they cannot describe precisely the great variety of spinal morphologies. This article presents a more general technique called dual kriging, which includes two mathematical constituents (drift and covariance) to adjust the interpolated functions to spinal deformity better. The cross-validation technique was used to compare the parametric representations of spinal curves with different combinations of drift and covariance functions. Model validation was performed from a series of analytic curves reflecting typical scoliotic spines. Calculation of geometric torsion, a sensitive parameter, was done to evaluate the accuracy of the kriging models. The best model showed an absolute mean difference of 1.2 x 10(-5) (+/- 7.1 x 10(-5) ) mm(-1) between the analytical and estimated geometric torsions compared to 5.25 x 10(-3) (+/- 3.7 x 10(-2) ) mm(-1) for the commonly used least-squares Fourier series method, a significant improvement in spinal torsion evaluation.

In vivo geometrical evaluation of Cheneau-Toulouse-Munster brace effect on scoliotic spine using MRI method

OBJECTIVES

The aim was to quantify the immediate effect of the Cheneau-Toulouse-Munster brace (worn at night) on scoliotic curvatures in vivo.Design. A three-dimensional geometrical model of the spine was developed using magnetic resonance images.

BACKGROUND

Many corrective ortheses were proposed for the orthopaedic treatment of idiopathic scoliosis. Simple radiographs were not sufficient to analyse the three-dimensional spinal deformations. So, three-dimensional geometrical models were developed using stereoradiography and axial tomography. MRI has been only used clinically for investigation of intervertebral disc disorders.

METHOD

MRI examination had been performed on 14 girls having an idiopathic scoliosis and wearing a first Cheneau-Toulouse-Munster brace. The protocol investigated was performed with and without brace. Using an in-house image processing software and the pre-post processing software Patran, two geometrical models of the spine (spine without brace and spine with brace correction) were obtained, respectively, for each patient, the models including the vertebral bodies.

RESULTS

Our method reproducibility was found to be 0.5 mm on the displacements and 2.5 degrees on the rotations. The Cheneau-Toulouse-Munster brace decreased the coronal shift forward, the coronal tilt, the axial rotation, and increased the sagittal shift forward and the sagittal vertebral tilt.

DISCUSSION

The results showed that the Cheneau-Toulouse-Munster brace had a three-dimensional and personalised action on vertebrae. This technique using MRI provides no irradiation and allows the soft tissue visualisation, but actually is not dedicated for clinical use and is limited to the lying position.

RELEVANCE

The qualitative and quantitative data obtained allowed a better description of the Cheneau-Toulouse-Munster brace effect on scoliotic spine, and will help the orthopaedist in the brace design and the clinician in the scoliosis comprehension.

Morphometric evaluations of personalised 3D reconstructions and geometric models of the human spine

In the past, several techniques have been developed to study and analyse the 3D characteristics of the human spine: multi-view radiographic or biplanar 3D reconstructions, CT-scan 3D reconstructions and geometric models. Extensive evaluations of three of these techniques that are routinely used at Sainte-Justine Hospital (Montréal, Canada) are presented. The accuracy of these methods is assessed by comparing them with precise measurements made with a coordinate measuring machine on 17 thoracic and lumbar vertebrae (T1-L5) extracted from a normal cadaveric spine specimen. Multi-view radiographic 3D reconstructions are evaluated for different combinations of X-ray views: lateral (LAT), postero-anterior with normal incidence (PA0 degree) and postero-anterior with 20 degrees angled down incidence (PA20 degrees). The following accuracies are found for these reconstructions obtained from different radiographic setups: 2.1 +/- 1.5 mm for the combination with PA0 degree-LAT views, and 5.6 +/- 4.5 mm for the PA0 degree-PA20 degrees stereopair. Higher errors are found in the postero-anterior direction, especially for the PA0 degree-PA20 degrees view combination. Pedicles are found to be the most precise landmarks. Accuracy for CT-scan 3D reconstructions is about 1.1 +/- 0.8 mm. As for a geometric model built using a multiview radiographic reconstruction based on six landmarks per vertebra, accuracies of about 2.6 +/- 2.4 mm for landmarks and 2.3 +/- 2.0 mm for morphometric parameters are found. The geometric model and 3D reconstruction techniques give accurate information, at low X-ray dose. The accuracy assessment of the techniques used to study the 3D characteristics of the human spine is important, because it allows better and more efficient quantitative evaluations of spinal dysfunctions and their treatments, as well as biomechanical modeling of the spine.

Approach for the smoothing of three-dimensional reconstructions of the human spine using dual Kriging interpolation

In numerous situations, 3-D reconstructions of the spine are represented as curves in space, with the vertebral centroids as control points. Interpolation functions such as splines, polynomials or Fourier series have been used to minimise measurement errors and to perform specific calculations. A more general approach, dual Kriging, is presented which incorporates in a single formulation several methods, such as piece-wise linear interpolation, splines and least square functions as a limit case. To minimise user interaction and to control the different Kriging parameters, a computer program is developed allowing efficient use of these interpolation techniques in a clinical environment. Given different drift and covariance functions, the program determines the most suitable Kriging model for specific spine geometries and controls the amount of smoothing performed on raw data. Validation of the technique is with analytical 3-D curves, where random noise is added to represent reconstruction errors. A maximum absolute mean difference of 1.85 +/- 0.50 mm is found between the analytical and noisy curves smoothed with the Kriging technique for 200 points. Results obtained on actual 3-D reconstructions of scoliotic patients are very promising.

Optimized vertical stereo base radiographic setup for the clinical three-dimensional reconstruction of the human spine

This paper presents a method to determine the stereoradiographic planes and anatomical vertebral landmarks giving the most reliable three-dimensional reconstructions of the thoracic and lumbar spine for clinical studies. The present investigation was limited to stereoradiographic setups with a normal vertical stereo base. Possible X-ray tube positions are thus corresponding to angles ranging from 0 (conventional posteroanterior radiograph) up to 30 degrees (dimension of the X-ray room). An X-ray phantom was used as a specimen from which three-dimensional reconstructions with the direct linear transformation (DLT) algorithm were obtained. Visibility of landmarks located on pedicles, end-plates, transverse and spinous processes was evaluated for the whole thoracic and lumbar spine (T1 to L5). Process landmarks were discarded because their poor visibility on radiographs produced inaccurate three-dimensional reconstructions. Considering the size, shape and orientation of vertebrae, an angle of 20 degrees between the posteroanterior horizontal position and the angled position of the X-ray tube gave optimal results. Landmarks located on pedicles and end-plates produced the most reliable three-dimensional reconstructions of the spine. Pedicles were found to be more reliable landmarks than end-plates. Validation of the technique with reconstructed steel beads reveals three-dimensional errors under 1.0 mm. Since vertebral landmarks were more difficult to identify on radiographs than steel beads, reconstruction results were compared with those obtained with a biplanar orthogonal setup. This shows that three-dimensional errors of 8.0 mm may be expected on actual reconstructions of the spine and errors as large as 15.0 mm may be present on poorly visible landmarks.

Effect of radiographic landmark identification errors on the accuracy of three-dimensional reconstruction of the human spine

In three-dimensional reconstruction of the human spine obtained from stereo-radiographic set-ups (two radiographs or more), it is extremely difficult to identify exactly the same landmarks on all radiographs. The effect of these identification errors was investigated with simulations made on points of known three-dimensional co-ordinates and compared with three-dimensional reconstructions of real spines obtained with the direct linear transformation algorithm. Results showed that radiographic identification errors of up to 2 mm were common, causing reconstruction errors of up to 5 mm. These reconstruction errors may be noticed in the form of geometrical inaccuracies in the graphical representation of three-dimensional reconstructions of the spine. Successive displacements were then imposed on image point co-ordinates to minimise the identification error and increase the reconstruction accuracy. The improvement on the three-dimensional reconstruction results was negligible. Three-dimensional reconstructions obtained from three radiographs were also investigated. They showed slightly more accurate reconstructions than those obtained from two radiographs. However, the increase of X-ray exposure on the patient may not be worthwhile.

The effect of a device for transverse traction on vertebral rotation in surgery for scoliosis as studied by X-ray stereophotogrammetry

The effect of a device for transverse traction (DTT) on vertebral rotation in surgery for scoliosis has been analysed with an X ray stereophoto-grammetric method in 17 patients. Six of them underwent conventional Harrington rod instrumentation and eleven patients received additional treatment with the DTT. The DTT exerted a positive effect on vertical rotation at the apex, and derotation average 10° as compared with 5° in the group in whom the device was not used.