Recovery of distal hole axis in intramedullary nail trajectory planning

A New Accurate, Simple and Less Radiation Exposure Device for Distal Locking of Femoral Intramedullary Nails

Background

Due to the metal elasticity of intramedullary nails (IMs) and irregularities of the long bone marrow cavity and other reasons, one of the greatest challenges for surgeons is to position the distal locking screw. Therefore, a novel laser guiding navigation device was designed for the distal locking of femoral IMs. The purpose of this study was to compare the effectiveness of the novel device and freehand technique for distal locking of IMs in the femoral model.

Methods

The laser guiding navigation device (laser group) and freehand technique (freehand group) were used in the distal locking of the IMs in the femoral model. All operations were performed by surgeons of the same level. The differences between the two groups were compared in terms of operative time, radiation exposure time, first success rate, deviation angle between ideal trajectory and actual trajectory, and learning curve.

Results

The distal locking of the IMs in the femoral model was performed 40 times in each group. The results showed that the laser group was better than the freehand group in terms of operative time (345±165 VS 212±105 seconds, t=4.27, P<0.001), radiation exposure time (164±57 VS 41±15 seconds, t=13.15, P<0.001) and first successrate (χ ²=21.36, P<0.001). Compared with the freehand group, the actual trajectory of the laser group was closer to the ideal trajectory in coronal and horizontal planes. Furthermore, the learning curve time of the laser group was shorter.

Conclusion

Compared with traditional freehand technique, the novel laser guiding navigation device can shorten the operative time and reduce radiation exposure invitro. In addition, it is easy to master with more accuracy and a higher first success rate in vitro.

C-Arm Image-Based Surgical Path Planning Method for Distal Locking of Intramedullary Nails

Due to the curvature of the bone marrow cavity, the intramedullary nail used in long bone fracture fixation can be deformed, causing displacement of the locking holes. In this study, an algorithm using only one C-arm image to determine the center positions and axial directions of locking holes was developed for drilling guidance. Based on conventional method that the axial direction of locking hole would be identified when locking hole contour is presented as a circle, the proposed method can locate the circle contour centroid by using one C-arm image including two elliptical contours. Then the two distal locking holes' axial direction and centers would be determined. Three experiments were conducted to verify the performance of the proposed algorithm, which are (1) computer simulation, (2) use of real intramedullary nails, and (3) actual drilling test with the bone model. The experimental results showed that the average error of the axial direction and center position were 0.62 ± 0.6°, 0.73 ± 0.53 mm (simulation) and 3.16 ± 1.36°, 1.10 ± 0.50 mm (actual nail), respectively. The last ten drilling test sets were completed successfully (with an average duration of 48 seconds). Based on the experimental results, the proposed algorithm was feasible for clinic applications.

Computer assisted preoperative planning of bone fracture reduction: Simulation techniques and new trends

The development of support systems for surgery significantly increases the likelihood of obtaining satisfactory results. In the case of fracture reduction interventions these systems enable surgery planning, training, monitoring and assessment. They allow improvement of fracture stabilization, a minimizing of health risks and a reduction of surgery time. Planning a bone fracture reduction by means of a computer assisted simulation involves several semiautomatic or automatic steps. The simulation deals with the correct position of osseous fragments and fixation devices for a fracture reduction. Currently, to the best of our knowledge there is no computer assisted methods to plan an entire fracture reduction process. This paper presents an overall scheme of the computer based process for planning a bone fracture reduction, as described above, and details its main steps, the most common proposed techniques and their main shortcomings. In addition, challenges and new trends of this research field are depicted and analyzed.

Robot-assisted Long Bone Fracture Reduction

The preferred treatment of femoral (thigh bone) shaft fractures nowadays is the minimally invasive technique of intramedullary nailing. However, in addition to its advantages, this technique also has a number of disadvantages, such as the frequent occurrence of malaligned fracture reductions and high X-ray exposure, especially to the operating team. The aim of our research is to overcome these shortcomings by utilizing modern techniques such as three-dimensional (3D) imaging, navigation, and robotics. In this paper we present the current state of our interdisciplinary research project. We first introduce a telemanipulated fracture reduction procedure, which is based on 3D imaging data. This set-up is improved one step further towards an automated fracture reduction procedure. Finally, two drilling tasks, namely the opening of the medullar cavity and the distal locking of the intramedullary nail, are presented, which are supported by automated X-ray-based image analysis and robot-assisted drill guidance. We show that high reduction accuracies can be achieved with our robotic system. Furthermore, the robot-assisted drill guidance achieves superior results with respect to increased precision and decreased X-ray exposure compared with the conventional procedure. We conclude that this surgical procedure benefits conspicuously from the support of robotic assistance systems and that further research and development in this field is worthwhile.

A novel technique for distal locking of intramedullary nail based on two non-constrained fluoroscopic images and navigation

Distal locking is one of the most difficult steps in intramedullary nailing. Numerous methods can help the surgeon, but all are time-consuming and involve much irradiation. We have developed and tested a new method based on only two fluoroscopic shots that do not need to be taken in the axes of the holes. This avoids requiring the presence of an experienced fluoroscopy operator to accurately adjust the imaging device in front of the locking holes, and decreases the exposure to radiation of the patient and medical team. A 3-D model of the distal nail and of its locking holes was constructed from a pair of calibrated fluoroscopic views. Prior to this, the contours of the nail and locking holes projections had to be determined. A 3-D optical localizer allowed the tracking of reference frames fixed to the nail, imaging device, and drilling motor. A navigation system based on the model guided the surgeon during distal targeting. The robustness, accuracy, and duration of the technique were evaluated in laboratory. The range of acceptable orientations of the X-ray beam has also been determined. Twenty drilling tests were carried out on sawbones. The accuracy and the duration required by our system to perform the distal targeting shows potential suitability for clinical use. The drill passed through the nail locking holes for all of them. The accuracy was about 1.5 mm in translation and 1 degree in rotation. The total time spent on drilling did not exceed 15 min. The system was also assessed in vivo on three patients.

A robust and accurate two-stage approach for automatic recovery of distal locking holes in computer-assisted intramedullary nailing of femoral shaft fractures

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.

Accurate and reliable pose recovery of distal locking holes in computer-assisted intra-medullary nailing of femoral shaft fractures: a preliminary study

OBJECTIVE

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.

METHODS

A model-based optimal fitting process was used to reconstruct the positions and orientations of the DLHs from two calibrated fluoroscopic images. No human intervention is required. A preliminary in vitro validation study was conducted to analyze the accuracy and reliability of the technique using images acquired from different viewpoints. The ground truths of the DLH were obtained by inserting a custom-made steel rod through the hole and then digitizing both the top and bottom centers of the rod using a sharp pointer. The recovery errors were computed by comparing the computed results to the ground truths.

RESULTS

In all experiments, the poses of the DLHs could be recovered fully automatically. When the recovered positions and orientations of the DLHs were compared to their associated ground truths, a mean angular error of 0.5 degrees (STD = 0.2 degrees ), and a mean translational error of 0.1 mm (STD = 0.0 mm) were found.

CONCLUSIONS

Accurate and reliable pose recovery of distal locking holes from two calibrated fluoroscopic images is achievable. Our preliminary in vitro experimental results demonstrate that the recovered poses of the distal locking holes are sufficiently accurate for intra-operative use.

X-ray-based machine vision system for distal locking of intramedullary nails

In surgical procedures for femoral shaft fracture treatment, current techniques for locking the distal end of intramedullary nails, using two screws, rely heavily on the use of two-dimensional X-ray images to guide three-dimensional bone drilling processes. Therefore, a large number of X-ray images are required, as the surgeon uses his/her skills and experience to locate the distal hole axes on the intramedullary nail. The long-term effects of X-ray radiation and their relation to different types of cancer still remain uncertain. Therefore, there is a need to develop a surgical technique that can limit the use of X-rays during the distal locking procedure. A robotic-assisted orthopaedic surgery system has been developed at Loughborough University to assist orthopaedic surgeons by reducing the irradiation involved in such operations. The system simplifies the current approach as it uses only two near-orthogonal X-ray images to determine the drilling trajectory of the distal locking holes, thereby considerably reducing irradiation to both the surgeon and patient. Furthermore, the system uses robust machine vision features to reduce the surgeon's interaction with the system, thus reducing the overall operating time. Laboratory test results have shown that the proposed system is very robust in the presence of variable noise and contrast in the X-ray images.

Computer assisted orthopaedic surgical system for insertion of distal locking screws in intra-medullary nails: a valid and reliable navigation system

The insertion of distal locking screws is a difficult task in intra-medullary (IM) nailing operations of long bones and contributes a significant proportion to the overall operating time. The current technique to insert these screws uses numerous fluoroscopic images and depends on the skills and expertise of the surgeon. The Computer Assisted Orthopaedic Surgical System (CAOSS) was developed to assist orthopaedic surgeons in these operations. The laboratory based test results for insertion of distal locking screws in IM nailing procedures are presented and discussed in terms of accuracy and as part of the validation process to introduce new CAOS procedures into clinical use. This study shows that CAOSS in IM nailing is robust and reliable. Positional accuracy was shown to be within 0.3 mm and angular accuracy within 0.2 degrees with femoral IM nail. CAOSS was also shown to be very reliable and accurate at different angles of distal screws in fluoroscopic image space.