Current opinion on computer-aided surgical navigation and robotics: role in the treatment of sports-related injuries

Preoperative planning for intraoperative navigation guidance

Intraoperative navigation for spinal procedures has continued to gain popularity. Numerous platforms are currently on the market and offer a spectrum of features. Preoperative considerations when utilizing this technology begin with understanding the fundamental concepts and methods of navigation. Several key factors including patient positioning, reference array placement, and sequence of instrumentation can help improve intraoperative navigation workflow when planned appropriately. The authors review current literature to help guide surgeon decision making when utilizing navigation. Additionally, tips and techniques for use of navigation are detailed to help avoid common surgeon pitfalls. In general, navigation platforms are classified based on image acquisition and degree of surgeon motion restriction during instrumentation. Imageless platforms often require preoperative images to be uploaded into the navigation system. Image-based systems rely on intraoperative imaging to ensure accuracy of its referencing software. The system then creates a three-dimensional model that allows for visualization of the navigated instrument within the surgical field. Active and passive navigation describe the degree of surgeon free-motion restriction when utilizing navigated instruments. Active navigation platforms, such as most robotic systems, prevent the deviation of the surgeon's instrument from a predetermined trajectory. Passive navigation does not restrict surgeon motion and the projected trajectory of the instrumented can be displayed on a three-dimensional model.

Three-dimensional Intraoperative Imaging Modalities in Orthopaedic Surgery: A Narrative Review

Intraoperative imaging and navigation systems have revolutionized orthopaedic surgery for the spine, joints, and orthopaedic trauma. Imaging modalities such as the isocentric C-arm, O-arm imaging, and intraoperative MRI or navigation systems allow the visualization of surgical instruments and implants relative to a three-dimensional CT image or MRI. Studies show that these technologies lower the rates of implant misplacement and inadequate fracture reduction, thereby improving surgical outcomes and reducing reoperation rates. An additional benefit is reduced radiation exposure compared with that for conventional fluoroscopy. Concerns surrounding adoption of these technologies include cost and increased operating times, but improvements in design and protocol may improve the integration of these imaging modalities into the operating room.

A Preliminary In Vivo Assessment of Anterior Cruciate Ligament-Deficient Knee Kinematics With the KneeM Device: A New Method to Assess Rotatory Laxity Using Open MRI

BACKGROUND

Methods of objectively measuring rotational knee laxity are either experimental or difficult to use in daily practice. A new method has been developed to quantitatively assess rotatory laxity using an open MRI system and new tool, the KneeM device.

PURPOSE/HYPOTHESIS

To perform a preliminary evaluation of a novel knee rotation measurement device to assess knee kinematics during flexion in an MRI field, in both anterior cruciate ligament (ACL)-deficient and healthy contralateral knees. The hypothesis was that the KneeM device would allow in vivo reproduction and analysis of knee kinematics during flexion in healthy and ACL-deficient knees.

STUDY DESIGN

Controlled laboratory study.

METHODS

Ten subjects (7 men and 3 women; mean age ± standard deviation, 32.3 ± 9.4 years) with ACL-deficient knees and contralateral uninjured knees participated in the study. An open MRI was performed with the KneeM device at a mean 4.9 months (range, 3.0-7 months) after ACL injury. The device exerted on the knee an anterior drawer force of 100 N, with an internal rotation of 20°, through the range of flexion (0°, 20°, 40°, and 60°). Both ACL-deficient and healthy contralateral knees were analyzed using the Iwaki method.

RESULTS

There was no statistical difference of anterior translation in the medial compartment between intact and ACL-deficient knees at all degrees of flexion. However, significant differences in the anterior translation of the lateral compartment were observed between ACL-deficient and intact contralateral knees at 0° and 20° of flexion (P = .005 and P = .002, respectively). Between 20° and 40°, the lateral plateau of ACL-deficient knees translated 7.7 mm posteriorly, whereas the medial compartment remained stable, reflecting a sudden external rotation of the lateral plateau under the femoral condyle.

CONCLUSION

This preliminary study suggests that measurement of tibiofemoral movements in both compartments during flexion using the KneeM device was useful for quantifying rotatory laxity in ACL-deficient knees. Moreover, this device seemed to allow a "mechanized pivot shift" and allowed reproduction of the "pivot" phase in the MRI field between 20° and 40° of flexion.

CLINICAL RELEVANCE

This device could be used for diagnostic purposes or to investigate the outcomes of ACL reconstructions.

Development of a three-dimensional detection method of cam deformities in femoroacetabular impingement

OBJECTIVE

The description of femoral head sphericity and related risk for femoroacetabularimpingement is currently limited to an angular estimate-the alpha angle-whose relevance and accuracy have been challenged. We developed a three-dimensional approach for both automated digital measurement of the alpha angle and the detection of camdeformities. Accuracy and diagnostic relevance of the alpha angle estimated by means of the oblique axial and multiple radial plane protocol were compared with the computed results.

MATERIALS AND METHODS

Using subject-specific statistical information of the femur head and mid-neck region, a method was developed to accurately compute the maximum alpha angle and to define aspherical eccentric areas at the femoral head-neck junction. The method was evaluated on 102 dry cadaver femur specimens.

RESULTS

Average detection limit for bony prominences at the head-neck transition was 0.98 mm. Pixel size of the investigated CT data was 0.79 mm. Mean maximum computed alpha angle of the femurs with cam-type morphology as identified by the morphological method was 67.72° (range 53.04-88.02°). Mean maximum computed alpha angle of the femurs without cam deformity was 47.65° (range 38.67-59.81°). Alpha angle estimates obtained by means of the multiple radial plane protocol correlated better (R = 0.88) and showed higher diagnostic agreement (phi = 0.77) with the 3D computational analysis compared to the oblique axial protocol (R = 0.60; phi = 0.67).

CONCLUSIONS

The alpha angle seems to be a relevant screening tool when obtained by 3D computed analysis or when estimated according to the multiple radial plane protocol. Estimates obtained by means of the oblique axial protocol have insufficient diagnostic and measurement accuracy.

A method for three-dimensional evaluation and computer aided treatment of femoroacetabular impingement

Several theoretical models have shown that the range of motion of the hip joint is impaired in patients with femoroacetabular impingement, and that the acetabular cartilage is at risk of being damaged as a result of abnormal shear stresses, even during normal everyday activities. Computer aided technologies might add to the early diagnosis and adequate treatment of such lesions. This paper describes the technique, theories and algorithms we have developed for patient-specific detection, analysis and computer aided surgery of femoroacetabular impingement. Currently available models applicable to femoroacetabular impingement offer modeling based on collision analysis of a constrained hip joint. Such an approach implies that neither the femur nor the acetabulum can be analyzed completely separately for the presence of structural lesions responsible for the impingement problem. Moreover, a constrained model does not allow for comprehensive prediction of the possible locations and extent of secondary cartilage lesions (so-called contre-coup lesions) of the posterior acetabulum opposite the anterior impingement site. We report a new technique for the subject-specific morphological analysis of the proximal femur, acetabulum and hip joint. The technique offers a number of advantages compared to currently used techniques for the diagnosis and evaluation of hip impingement, and has direct orthopaedic applications as it allows computer aided planning and minimally invasive surgery for patients with femoroacetabular impingement.

Rotational knee laxity: reliability of a simple measurement device in vivo

Background

Double bundle ACL reconstruction has been demonstrated to decrease rotational knee laxity. However, there is no simple, commercially-available device to measure knee rotation. The investigators developed a simple, non-invasive device to measure knee rotation. In conjunction with a rigid boot to rotate the tibia and a force/moment sensor to allow precise determination of torque about the knee, a magnetic tracking system measures the axial rotation of the tibia with respect to the femur. This device has been shown to have acceptable levels of test re-test reliability to measure knee rotation in cadaveric knees.

Methods

The objective of this study was to determine reliability of the device in measuring knee rotation of human subjects. Specifically, the intra-tester reliability within a single testing session, test-retest reliability between two testing sessions, and inter-tester reliability were assessed for 11 male subjects with normal knees.

Results

The 95% confidence interval for rotation was less than 5° for intra-tester, test-retest, and inter-tester reliability, and the standard error of measurement for the differences between left and right knees was found to be less than 3°.

Conclusion

It was found that the knee rotation measurements obtained with this device have acceptable limits of reliability for clinical use and interpretation.

Development of a simple device for measurement of rotational knee laxity

The goal of this study was to develop a new device for the measurement of rotational knee laxity and to measure intra-observer and inter-observer reliability in a cadaveric study. An array of established tools was utilized to design the device with a basis that consists of an Aircast Foam Walkertrade mark boot. A load cell was attached to the boot with a handle bar for application of moments about the knee. An electromagnetic tracking system was used to record the motion of the tibia with respect to the femur. The total arc of motion ranged from 23 degrees at full extension to 46 degrees at 90 degrees of knee flexion. The intra-tester ICCs ranged from 0.94 to 0.99. The ICC for inter-tester reliability ranged from 0.95 to 0.99. In summary, the new device for measurement of rotational knee laxity is simple, reliable, and can be used in a non-invasive fashion in the office or surgical suite document clinical outcome in terms of rotational knee laxity.

Image-to-patient registration by natural anatomical surfaces of the head

The use of registration markers in computer-assisted surgery is combined with high logistic costs and efforts.

During the preparation of image guided surgery, automated markerless patient-to-image registration based on anatomical surfaces allows a significant reduction of preoperative effort and of the radiation dose the patient is exposed to. Placement and measurement of radio-opaque fiducial markers becomes unnecessary. The usability of face, auricle, maxilla and mandible for surface-based registration to CT image data was investigated. The present study was performed to evaluate the clinical accuracy in finding defined target points within the surgical site after markerless patient registration in image-guided oral and maxillofacial surgery.

Preoperatively, the spatial position of 20 patients was registered to CT image data using a 3D laser surface scanner. Indications for surgery were tumours, foreign bodies and skeletal malformations. The accuracy of this surface-based registration was verified using additionally placed fiducial markers.

The study showed, that markerless surface-based registration was sufficiently accurate for clinical use when the surface used for matching was the upper jaw, the face, or — with reservations — the auricle. Surface-based registration using the mandible did not yield satisfying results. To conclude, image-to-patient registration based on laser surface scanning is a valuable method for surgery of the head. Multiple sites of the head were identified as appropriate for the method. Hence, dependent on the individual case and the intended surgery, the registration area can be selected with the necessary flexibility.

The use of computer navigation in performing minimally invasive surgery for intertrochanteric hip fractures--The experience in Singapore

OBJECTIVE

Intertrochanteric hip fractures are very common and early mobilisation correlates with a better outcome. The ideal surgical procedure should protect the soft tissue envelope, thereby preserving blood supply and reducing blood loss. Furthermore, occupational exposure to fluoroscopy that is used in hip fracture fixation remains a concern amongst orthopaedic surgeons. Computer-aided surgery can help to reduce reliance on fluoroscopy. We therefore combined the principles of minimally invasive plate osteosynthesis (MIPO) and computer navigation to describe a new procedure. We also present our results using this technique of minimally invasive computer-navigated dynamic hip screw fixation (navMIS-DHS), and compare it to computer-navigated open DHS fixation (nav-DHS) and to conventional open DHS fixation (conv-DHS).

MATERIALS AND METHODS

This paper has three parts. In the first part, we describe the procedure of navMIS-DHS in detail. In the second part, we present our initial retrospective pilot series of 35 cases. Amongst them we performed 5 navMIS-DHS, 3 nav-DHS and 27 conv-DHS. There were also two cases of conv-DHS deliberately performed with a mini-incision in an attempt to see if we could duplicate the 5 cm incision that we achieved with navMIS-DHS. All patients were followed up for a minimum of 6 months. In the third part, we performed a single surgeon prospective evaluation of navMIS-DHS versus conv-DHS involving 43 fractures in two arms.

RESULTS

We were able to achieve reduction in fluoroscopy time. There was also reduction in opiate requirement post-operatively in the minimally invasive procedure. The incision sizes were also smaller. The prospective study also showed less wound-related complications in navMIS-DHS and a shorter time to ambulation. Implant positions were acceptable but we have also described how it may be improved.

CONCLUSIONS

Navigated MIS-DHS, by virtue of less pain, better healing, earlier rehabilitation and potentially shorter hospital stay, would benefit both the patients and reduce the economic strain on the health care system. It is a safe and reproducible procedure. Technical difficulties are present and these need to be addressed with further modifications of technique, and instrumentation.

Varying femoral tunnels between the anatomical footprint and isometric positions: effect on kinematics of the anterior cruciate ligament-reconstructed knee

BACKGROUND

Knee kinematics and in situ forces resulting from anterior cruciate ligament reconstructions with 2 femoral tunnel positions were evaluated.

HYPOTHESIS

A graft placed inside the anatomical footprint of the anterior cruciate ligament will restore knee function better than a graft placed at a position for best graft isometry.

STUDY DESIGN

Controlled laboratory study.

METHODS

Ten cadaveric knees were tested in response to a 134-N anterior load and a combined 10-N.m valgus and 5-N.m internal rotation load. A robotic universal force-moment sensor testing system was used to apply loads, and resulting kinematics were recorded. An active surgical robot system was used for positioning tunnels in 2 locations in the femoral notch: inside the anatomical footprint of the anterior cruciate ligament and a position for best graft isometry. The same quadrupled hamstring tendon graft was used for both tunnel positions. The 2 loading conditions were applied.

RESULTS

At 30 degrees of knee flexion, anterior tibial translation in response to the anterior load for the intact knee was 9.8 +/- 3.1 mm. Both femoral tunnel positions resulted in significantly higher anterior tibial translation (position 1: 13.8 +/- 4.6 mm; position 2: 16.6 +/- 3.7 mm; P < .05). There was a significant difference between the 2 tunnel positions. At the same flexion angle, the anterior tibial translation in response to the combined load for the intact knee was 7.7 +/- 4.0 mm. Both femoral tunnel positions resulted in significantly higher anterior tibial translation (position 1: 10.4 +/- 5.5 mm; position 2: 12.0 +/- 5.2 mm; P < .05), with a significant difference between the tunnel positions.

CONCLUSION

Neither femoral tunnel position restores normal kinematics of the intact knee. A femoral tunnel position inside the anatomical footprint of the anterior cruciate ligament results in knee kinematics closer to the intact knee than does a tunnel position located for best graft isometry.

CLINICAL RELEVANCE

Anatomical femoral tunnel position is important in reproducing function of the anterior cruciate ligament.

Neue Konzepte in der bildgestützten Chirurgie: automatische Patientenregistrierung anhand von Kiefer und Ohrmuschel

OBJECTIVE

Automatic and marker less patient registration based on natural anatomical interfaces may considerably reduce the radiation load and logistical input prior to computer-assisted surgical interventions, as it is not necessary to place and measure reference markers. The present study was to find out if, apart from the facial skin, also auricles as well as the upper and lower jaw can be used as anatomical interfaces for the intraoperative registration of the patient's position.

MATERIAL AND METHOD

Prior to surgical intervention the positions of 20 patients were registered by a high-resolution 3D laser scan and correlated with the preoperative CT data set. Tumors, skeletal malformations, and foreign bodies were indications for surgical intervention. Auricles as well as the upper and lower jaw were used to register the patient's positions. The accuracy of this basically marker less method was clinically evaluated through the additionally placed conventional registration markers.

RESULTS AND CONCLUSION

The marker less patient registration based on natural anatomical interfaces was successful in the upper jaw (deviation: 0.8+/-0.3 mm). The tongue and mobile floor of the mouth led to geometric incongruence and inadequate laser registration in the lower jaw. As far as the auricles were concerned, high accuracy could only be achieved as long as the auricles had not been deformed during CT imaging (deviation: 1.9+/-0.9 mm). The usual CT acquisition with a conventional head support, however, led to temporary auricular deformations in more than half of the patients, which made an exact laser scan registration impossible.