A Hybrid CT-Free Navigation System for Total Hip Arthroplasty

Total Hip Arthroplasty Imageless Navigation Does Not Reduce 90-Day Adverse Events or Five-Year Revisions in a Large National Cohort

BACKGROUND

Computer navigation is an increasingly utilized technology that is considered with total hip arthroplasty (THA). However, the evidence to support this practice is mixed. The current study leveraged a large national administrative database to compare 90-day adverse events as well as 5-year all-cause revision and dislocation rates following THA performed with and without imageless navigation.

METHODS

From 2010 to 2020, a large national database was queried for THA cases performed for osteoarthritis. Cases with or without imageless navigation were matched at 1:4 based on age, sex, and Elixhauser Comorbidity Index (ECI) score. Ninety-day adverse events were assessed and compared with multivariate analyses. Five-year incidence of revision and dislocation were also assessed between cohorts.

RESULTS

Use of THA imageless navigation increased from 2010 (2.5% of cases) to 2020 (5.5% of cases; P < .001). After matching, 11,990 THA patients with navigation and 47,948 without navigation were identified. Overall, 90-day adverse events were observed in 7.0% of the population. Multivariate analysis controlling for age, sex, and ECI demonstrated a difference in only one 90-day adverse event; wound dehiscence, which had higher odds in the navigation group (odds ratio, 1.60, P < .001). At 5 years, revisions for the navigated group were higher (4.4 versus 3.6%: P = .006), while dislocations were not significantly different.

CONCLUSION

THA imageless navigation was not found to be associated with improved 90-day postoperative adverse events or differences in the 5-year rates of revision or dislocation. The current data were unable to identify clear advantages of this evolving technology for primary THA.

Periacetabular osteotomy using three-dimensional cutting and reposition guides: a cadaveric study

The goal of periacetabular osteotomy (PAO) is to reorient the acetabulum in a more physiological position. Its realization remains challenging regarding the final position of the acetabulum. Assistance with custom cutting- and reorientation-guides would thus be very helpful. Our purpose is to present a pilot study on such guides. Eight cadaveric hemipelvis were scanned using CT. After segmentation, 3D models of each specimen were created, a PAO was virtually performed and reorientation of the acetabula were defined. A specific guide was designed aiming to assist in iliac, posterior column and superior pubic ramus cuts as well as in acetabulum reorientation. Furthermore, the acetabular position was planned. Three-dimensional printed guides were used to perform PAO using the modified Smith-Peterson approach. The post-operative CT images and virtually planned acetabulum reorientation were compared in terms of acetabular index (AC), lateral centre edge angle (LCE), acetabular anteversion angle (AcetAV). There was no intra-articular or posterior column fracture seen. Two cadavers showed very low bone quality with insufficient stability of fixation and were excluded from further analysis. Correlation between the post-operative result and planning of the six included cadavers revealed the following mean deviations: 5° (SD ±3°) for AC angle, 6° (SD ±4°) for LCE angle and 15° (SD ±11°) for AcetAV angle. The use of 3D cutting and reorientation blocks for PAO was possible through a modified Smith-Peterson approach and revealed accurate fit to bone, accurate positioning of the osteotomies and acceptable planned corrections in cadavers with good bone quality.

Computer-Assisted Planning, Simulation, and Navigation System for Periacetabular Osteotomy

Periacetabular osteotomy (PAO) is an effective approach for surgical treatment of hip dysplasia in young adults. However, achieving an optimal acetabular reorientation during PAO is the most critical and challenging step. Routinely, the correct positioning of the acetabular fragment largely depends on the surgeon's experience and is done under fluoroscopy to provide the surgeon with continuous live x-ray guidance. Our developed system starts with a fully automatic detection of the acetabular rim, which allows for quantifying the acetabular 3D morphology with parameters such as acetabular orientation, femoral head extrusion index (EI), lateral center-edge (LCE) angle, and total and regional femoral head coverage (FHC) ratio for computer-assisted diagnosis, planning, and simulation of PAO. Intraoperative navigation is conducted to implement the preoperative plan. Two validation studies were conducted on four sawbone models to evaluate the efficacy of the system intraoperatively and postoperatively. By comparing the preoperatively planned situation with the intraoperatively achieved situation, average errors of 0.6° ± 0.3°, 0.3° ± 0.2°, and 1.1° ± 1.1° were found, respectively, along three motion directions (flexion/extension, abduction/adduction, and external rotation/internal rotation). In addition, by comparing the preoperatively planned situation with the postoperative results, average errors of 0.9° ± 0.3° and 0.9° ± 0.7° were found for inclination and anteversion, respectively.

Verification of a novel measuring method for determining pre- and postoperative leg length in the context of total hip arthroplasty: a technical feasibility study

Following total hip arthroplasty (THA), leg length can easily be modified, for example by different-sized endoprosthetic components. Currently, precise reconstruction depends mainly on the assessment of the surgeon. The aim of this study was to determine the accuracy of a new optical measuring system (OMS) using a novel measuring method capable of determining changes in leg length. Measurements with different investigators on an artificial leg and under clinical conditions were carried out. Measurements under clinical conditions were accomplished with a human body donor before and following prosthetic hip implantation. Furthermore, computed tomography (CT) was used to compare the function and the precision of the OMS relating to established measuring methods. The following results were achieved. The overall mean result of preoperative leg length determination by the OMS was 775.3 ± 5.8 mm (CT: 786.4 mm). The overall mean result of postoperative leg length determination by the OMS was 776.9 ± 10.8 mm (CT: 795.0mm). Measurements carried out showed that the novel measuring method works in principle. However, the viable prototype based on it has a lower accuracy compared to CT-based reference measurements, indicating the necessity of integrating more precise hardware.

Gravity-Assisted Navigation System for Total Hip Arthroplasty

In this chapter we propose a new system that allows reliable acetabular cup placement in total hip arthroplasty (THA) when the surgery is operated in lateral approach. Conceptually it combines the accuracy of computer-generated patient-specific morphology information with an easy-to-use mechanical guide, which effectively uses natural gravity as the angular reference. The former is achieved by using a statistical shape model-based 2D-3D reconstruction technique that can generate a scaled, patient-specific 3D shape model of the pelvis from a single conventional anteroposterior (AP) pelvic X-ray radiograph. The reconstructed 3D shape model facilitates a reliable and accurate co-registration of the mechanical guide with the patient's anatomy in the operating theater. We validated the accuracy of our system by conducting experiments on placing seven cups to four pelvises with different morphologies. Taking the measurements from an image-free navigation system as the ground truth, our system showed an average accuracy of 2. 1 ± 0. 7^∘ for inclination and an average accuracy of 1. 2 ± 1. 4^∘ for anteversion.

Biomechanical Robustness of a Contemporary Cementless Stem to Surgical Variation in Stem Size and Position

Successful designs of total hip replacement (THR) need to be robust to surgical variation in sizing and positioning of the femoral stem. This study presents an automated method for comprehensive evaluation of the potential impact of surgical variability in sizing and positioning on the primary stability of a contemporary cementless femoral stem (Corail®, DePuy Synthes). A patient-specific finite element (FE) model of a femur was generated from computed tomography (CT) images from a female donor. An automated algorithm was developed to span the plausible surgical envelope of implant positions constrained by the inner cortical boundary. The analysis was performed on four stem sizes: oversized, ideal (nominal) sized, and undersized by up to two stem sizes. For each size, Latin hypercube sampling was used to generate models for 100 unique alignment scenarios. For each scenario, peak hip contact and muscle forces published for stair climbing were scaled to the donor's body weight and applied to the model. The risk of implant loosening was assessed by comparing the bone–implant micromotion/strains to thresholds (150 μm and 7000 με) above which fibrous tissue is expected to prevail and the periprosthetic bone to yield, respectively. The risk of long-term loosening due to adverse bone resorption was assessed using bone adaptation theory. The range of implant positions generated effectively spanned the available intracortical space. The Corail stem was found stable and robust to changes in size and position, with the majority of the bone–implant interface undergoing micromotion and interfacial strains that are well below 150 μm and 7000 με, respectively. Nevertheless, the range of implant positions generated caused an increase of up to 50% in peak micromotion and up to 25% in interfacial strains, particularly for retroverted stems placed in a medial position.

Computer-Assisted Orthopedic Surgery: Current State and Future Perspective

Introduced about two decades ago, computer-assisted orthopedic surgery (CAOS) has emerged as a new and independent area, due to the importance of treatment of musculoskeletal diseases in orthopedics and traumatology, increasing availability of different imaging modalities, and advances in analytics and navigation tools. The aim of this paper is to present the basic elements of CAOS devices and to review state-of-the-art examples of different imaging modalities used to create the virtual representations, of different position tracking devices for navigation systems, of different surgical robots, of different methods for registration and referencing, and of CAOS modules that have been realized for different surgical procedures. Future perspectives will also be outlined.

Application of Rapid Prototyping Pelvic Model for Patients with DDH to Facilitate Arthroplasty Planning: A Pilot Study

Total hip arthroplasty (THA) is challenging in cases of osteoarthritis secondary to developmental dysplasia of the hip (DDH). Acetabular deficiency makes the positioning of the acetabular component difficult. Computer tomography based, patient-individual three dimensional (3-D) rapid prototype technology (RPT)-models were used to plan the placement of acetabular cup so that a surgeon was able to identify pelvic structures, assess the ideal extent of reaming and determine the size of cup after a reconstructive procedure. Intraclass correlation coefficients (ICCs) were used to analyze the agreement between the sizes of chosen components on the basis of preoperative planning and the actual sizes used in the operation. The use of the 3-D RPT-model facilitates the surgical procedures due to better planning and improved orientation.

Biomechanical validation of computer assisted planning of periacetabular osteotomy: A preliminary study based on finite element analysis

Periacetabular Osteotomy (PAO) is a joint preserving surgical intervention intended to increase femoral head coverage and thereby to improve stability in young patients with hip dysplasia. Previously, we developed a CT-based, computer-assisted program for PAO diagnosis and planning, which allows for quantifying the 3D acetabular morphology with parameters such as acetabular version, inclination, lateral center edge (LCE) angle and femoral head coverage ratio (CO). In order to verify the hypothesis that our morphology-based planning strategy can improve biomechanical characteristics of dysplastic hips, we developed a 3D finite element model based on patient-specific geometry to predict cartilage contact stress change before and after morphology-based planning. Our experimental results demonstrated that the morphology-based planning strategy could reduce cartilage contact pressures and at the same time increase contact areas. In conclusion, our computer-assisted system is an efficient tool for PAO planning.

Computer assisted planning and navigation of periacetabular osteotomy with range of motion optimization

Femoroacetabular impingement (FAI) before or after Periacetabular Osteotomy (PAO) is surprisingly frequent and surgeons need to be aware of the risk preoperatively and be able to avoid it intraoperatively. In this paper we present a novel computer assisted planning and navigation system for PAO with impingement analysis and range of motion (ROM) optimization. Our system starts with a fully automatic detection of the acetabular rim, which allows for quantifying the acetabular morphology with parameters such as acetabular version, inclination and femoral head coverage ratio for a computer assisted diagnosis and planning. The planned situation was optimized with impingement simulation by balancing acetabuar coverage with ROM. Intra-operatively navigation was conducted until the optimized planning situation was achieved. Our experimental results demonstrated: 1) The fully automated acetabular rim detection was validated with accuracy 1.1 ± 0.7mm; 2) The optimized PAO planning improved ROM significantly compared to that without ROM optimization; 3) By comparing the pre-operatively planned situation and the intra-operatively achieved situation, sub-degree accuracy was achieved for all directions.

A local reference frame for describing the proximal human femur: application in clinical settings

OBJECTIVE

The conventional reference frame for the femur has limited relevance for the planning of hip surgery as the femoral neck axis, a crucial reference for surgeons, has to be independently derived. The purpose of this study is to develop and validate a reliable frame of reference for the proximal femur that can be applied in clinical settings.

MATERIALS AND METHODS

Ten three-dimensional models of femurs were obtained. An iterative method was developed to find the femoral neck axis (X-axis). A second axis was also created from the lesser trochanter to the piriformis fossa (LTPF). The origin was defined as the femoral head centre. The cross product of the neck and LTPF axes provided the Z-axis and the third axis (Y-axis) was perpendicular to the other two. Intra-/inter-investigator reliability was assessed on the ten femur models; ten times by one investigator and twice by three investigators respectively. The results were then compared with the conventional reference frame using landmarks on the distal femur.

RESULTS

The femoral neck and LTPF axes had mean intra-/inter-investigator angle differences of 0.5° (SD 0.4°) and 0.7° (SD 0.5°), and 0.8° (SD 0.5°) and 0.9° (SD 0.6°) respectively while the variations of the X-, Y- and Z- axes were SD 0.6°, 0.7° and 0.5°.

CONCLUSIONS

A reliable method of obtaining the three-dimensional proximal femoral frame was developed, using the femoral neck axis, with greater relevance to clinical settings, preoperative planning and accurate assessment of procedures post-operatively.

A multiplanar radiography method for assessing cup orientation in total hip arthroplasty

Correct orientation of the acetabular cup considering patient-specific functional pelvic angles is an important factor for improving outcomes and avoiding complications after total hip arthroplasty. This study introduces a new, noninvasive radiographic tool for accurately determining a patient's specific pelvic tilt angle preoperatively, as well as accurately assessing acetabular cup orientation with respect to bony landmarks intraoperatively and postoperatively. The method was validated by imaging a bone replica model of the pelvis with implanted hip components, in comparison to digitized references, and verified with a cadaveric specimen. Pelvic tilt was measured with an accuracy of 0.1 deg and SD of 0.4 deg. Operative cup inclination and anteversion showed accuracies of 0.6 deg and 2.5 deg, with SD of 0.4 deg and 0.6 deg, respectively; these could be improved further by subtracting systematic bias. The method shows accuracy advantages over existing radiographic and fluoroscopic methods and exposes the subjects to a lower radiation dose compared to the similar computed tomography methods. These results suggest that the proposed method is feasible for assessing cup placement with reference to the functional and anatomical references. Furthermore, the ability to reference the same bony landmarks preoperatively, intraoperatively, and postoperatively has important research and clinical advantages.

Evaluation of the accuracy of femoral component orientation by the CT-based fluoro-matched navigation system

PURPOSE

Accurate orientation of acetabular and femoral components are important during THA. However, no study has assessed the use of the CT-based fluoro-matched navigation system during THA. Therefore, we have evaluated the accuracy of stem orientation by CT-based fluoro-matched navigation.

METHODS

The accuracy of stem orientation by CT-based fluoro-matched navigation was assessed by postoperative CT data. Furthermore, we compared the postoperative stem orientation with the intraoperative registration errors.

RESULTS

The average antetorsion error of the stem (navigation records - postoperative CT) was -0.5° ± 5.2°. The stem valgus error was 0.4° ± 2.7°. The accuracy of the navigation record for the orientation of the stem valgus was dependent on the intraoperative registration errors.

CONCLUSIONS

The clinical accuracy of CT-based fluoro-matched navigation is adequate for stem alignment orientation, and the intraoperative verification of registration errors is valuable for checking the accuracy of stem orientation by navigation.

Efficacy of the Use of Templating in Total Hip Arthroplasty

Objective

Method

Results

Conclusion

Compensation of sound speed deviations in 3-D B-mode ultrasound for intraoperative determination of the anterior pelvic plane

An accurate determination of the pelvic orientation is inevitable for the correct cup prosthesis placement of navigated total hip arthroplasties. Conventionally, this step is accomplished by percutaneous palpation of anatomic landmarks. Sterility issues and an increased landmark localization error for obese patients lead to the application of B-mode ultrasound imaging in the field of computer-assisted orthopedic surgery. Many approaches have been proposed in the literature to replace the percutaneous digitization by 3-D B-mode ultrasound imaging. However, the correct depth localization of the pelvic landmarks could be significantly affected by the acoustic properties of the penetrated tissues. Imprecise depth estimation could lead to a miscalculation of the pelvic orientation and subsequently to a misalignment of the acetabular cup implant. But so far, no solution has been presented, which compensates for acoustic property differences for correct depth estimation. In this paper, we present a novel approach to determine pelvic orientation from ultrasound images by applying a hierarchical registration scheme based on patch statistical shape models to compensate for differences in speed of sound. The method was validated based on plastic bones and a cadaveric specimen.

Evaluation of the accuracy of computed tomography-based navigation for femoral stem orientation and leg length discrepancy

Although there is a great deal in the literature about the clinical accuracy of computed tomography (CT)-based navigation systems for acetabular cup orientation and leg length discrepancy in total hip arthroplasty, there is little analysis of femoral stem orientation. Thirty total hip arthroplasties in which CT-based navigation system had been used had their anteversion, valgus angle of stem, and leg length discrepancy measured on postoperative CT data. Differences in postoperative measurements from intraoperative records were -0.6° ± 4.8° (range, -11° to 10°) for stem anteversion, -0.2° ± 1.8° (range, -4° to 3°) for valgus angle of stem, and 1.3 ± 4.1 mm (range, -6 to 10 mm) for leg length. Although this system may need further improvement for stem orientation, it was helpful for intraoperative leg length adjustment.

Effective incorporating spatial information in a mutual information based 3D-2D registration of a CT volume to X-ray images

This paper addresses the problem of estimating the 3D rigid poses of a CT volume of an object from its 2D X-ray projection(s). We use maximization of mutual information, an accurate similarity measure for multi-modal and mono-modal image registration tasks. However, it is known that the standard mutual information measures only take intensity values into account without considering spatial information and their robustness is questionable. In this paper, instead of directly maximizing mutual information, we propose to use a variational approximation derived from the Kullback-Leibler bound. Spatial information is then incorporated into this variational approximation using a Markov random field model. The newly derived similarity measure has a least-squares form and can be effectively minimized by a multi-resolution Levenberg-Marquardt optimizer. Experiments were conducted on datasets from two applications: (a) intra-operative patient pose estimation from a limited number (e.g. 2) of calibrated fluoroscopic images, and (b) post-operative cup orientation estimation from a single standard X-ray radiograph with/without gonadal shielding. The experiment on intra-operative patient pose estimation showed a mean target registration accuracy of 0.8mm and a capture range of 11.5mm, while the experiment on estimating the post-operative cup orientation from a single X-ray radiograph showed a mean accuracy below 2 degrees for both anteversion and inclination. More importantly, results from both experiments demonstrated that the newly derived similarity measures were robust to occlusions in the X-ray image(s).

Accuracy of acetabular component positioning with a fluoroscopically referenced CAOS system

OBJECTIVE

This study evaluated the accuracy, repeatability, and reproducibility of a fluoroscopic referenced system used for guiding acetabular component positioning.

METHODS

Calibration of the Medtronic StealthStation Treon Plus system was performed using a Weber gage block to assess linearity. Metrologic validation of repeatability and reproducibility was done using a cadaveric pelvis with an uncemented cup placed in the target position of 45 degrees inclination and 17.5 degrees anteversion. A baseline assessment was done with a National Institute of Standards and Technology (NIST) traceable coordinate measuring machine (CMM).

RESULTS

Weber gage block analysis revealed a mean bias of 0.69 mm. For the cadaveric pelvis, the anterior pelvic plane was determined using the bilateral anterior superior iliac spines with the symphysis pubis as the inferior landmark. The mean CMM measurement was inclination of 46.023 degrees (SD=1.075; range: 43.318-46.844 degrees) and anteversion of 15.787 degrees (SD=0.411; range: 15.068-16.384 degrees). One surgeon performed a repeatability assessment (n=8), finding mean inclination of 42.8 degrees (SD=1.5; range: 39.5-44.5 degrees) and anteversion of 17.5 degrees (SD=3.0; range: 14.5-22.5 degrees). Three surgeons performed a reproducibility assessment (n=24), finding mean overall inclination of 48.5 degrees (SD=0.9; range: 46-50 degrees) and anteversion of 17.8 degrees (SD=2.5; range: 13.5-23.5 degrees). All measurements were within a predefined acceptability range of+/-5 degrees.

DISCUSSION

The accuracy and reproducibility of the fluoroscopic referencing method was found to be suitable for determination of cup position in the surgical setting. Anteversion measurements were more variable for the fluoroscopic method and this may be related to the difficulty for the surgeon in predictably picking the anatomical points from the fluoroscopic image.

Implementation, accuracy evaluation, and preliminary clinical trial of a CT-free navigation system for high tibial opening wedge osteotomy

OBJECTIVE

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.

MATERIALS AND METHODS

Surgical instruments are tracked optically with the SurgiGATE((R)) navigation system (PRAXIM MediVision, La Tronche, France). Following exposure, dynamical reference bases are attached to the femur, tibia, and proximal fragment of the tibia. A patient-specific coordinate system is then established, on the basis of registered anatomical landmarks. After intra-operative deformity measurement and correction planning, the osteotomy is performed under navigational guidance. The deformities are corrected by realigning the mechanical axis of the affected limb from the diseased medial compartment to the healthy lateral side. The wedge size, joint line orientation, and tibial plateau slope are monitored during correction. Besides correcting uni-planar varus deformities, the system provides the functionality to correct complex multi-planar deformities with a single cut. Furthermore, with on-the-fly visualization of surgical instruments on multiple fluoroscopic images, penetration of the hinge cortex and damage to the neurovascular structures due to an inappropriate osteotomy can be avoided.

RESULTS

The laboratory evaluation with a plastic bone model (Synbone AG, Davos, Switzerland) shows that the error of deformity correction is <1.7 degrees (95% confidence interval) in the frontal plane and <2.3 degrees (95% confidence interval) in the sagittal plane. The preliminary clinical trial confirms these results.

CONCLUSION

A novel CT-free navigation system for high tibial osteotomy has been developed and evaluated, which holds the promise of improved accuracy, reliability, and safety of this procedure.

Computer-assisted total hip arthroplasty: coding the next generation of navigation systems for orthopedic surgery

This article outlines the scientific basis and a state-of-the-art application of computer-assisted orthopedic surgery in total hip arthroplasty (THA) and provides a future perspective on this technology. Computer-assisted orthopedic surgery in primary THA has the potential to couple 3D simulations with real-time evaluations of surgical performance, which has brought these developments from the research laboratory all the way to clinical use. Nonimage- or imageless-based navigation systems without the need for additional pre- or intra-operative image acquisition have stood the test to significantly reduce the variability in positioning the acetabular component and have shown precise measurement of leg length and offset changes during THA. More recently, computer-assisted orthopedic surgery systems have opened a new frontier for accurate surgical practice in minimally invasive, tissue-preserving THA. The future generation of imageless navigation systems will switch from simple measurement tasks to real navigation tools. These software algorithms will consider the cup and stem as components of a coupled biomechanical system, navigating the orthopedic surgeon to find an optimized complementary component orientation rather than target values intraoperatively, and are expected to have a high impact on clinical practice and postoperative functionality in modern THA.

HipMatch: an object-oriented cross-platform program for accurate determination of cup orientation using 2D-3D registration of single standard X-ray radiograph and a CT volume

The widely used procedure of evaluation of cup orientation following total hip arthroplasty using single standard anteroposterior (AP) radiograph is known inaccurate, largely due to the wide variability in individual pelvic orientation relative to X-ray plate. 2D-3D image registration methods have been introduced for an accurate determination of the post-operative cup alignment with respect to an anatomical reference extracted from the CT data. Although encouraging results have been reported, their extensive usage in clinical routine is still limited. This may be explained by their requirement of a CAD model of the prosthesis, which is often difficult to be organized from the manufacturer due to the proprietary issue, and by their requirement of either multiple radiographs or a radiograph-specific calibration, both of which are not available for most retrospective studies. To address these issues, we developed and validated an object-oriented cross-platform program called "HipMatch" where a hybrid 2D-3D registration scheme combining an iterative landmark-to-ray registration with a 2D-3D intensity-based registration was implemented to estimate a rigid transformation between a pre-operative CT volume and the post-operative X-ray radiograph for a precise estimation of cup alignment. No CAD model of the prosthesis is required. Quantitative and qualitative results evaluated on cadaveric and clinical datasets are given, which indicate the robustness and the accuracy of the program. HipMatch is written in object-oriented programming language C++ using cross-platform software Qt (TrollTech, Oslo, Norway), VTK, and Coin3D and is transportable to any platform.

Six sigma analysis of minimally invasive acetabular arthroplasty: a preliminary investigation

Minimally invasive techniques in THA may increase the difficulty of acetabular component insertion relative to the optimized position. We sought to determine the ability of eight surgeons to position an acetabular component placed using an anterior-lateral minimally invasive surgical (MIS) approach with conventional instruments or computer navigation using an optical imageless protocol compared with conventional true values determined by computed tomography (CT). We introduce a new approach, the Six Sigma process capability index, to assess outliers. Using the Six Sigma process capability index (Cp > 1.3) and the criteria of Lewinnek et al. of +/- 10 degrees for adequate precision, three-dimensional (3D) CT was capable for inclination and anteversion. Computer navigation and visual cues with conventional instrumentation were precise for anteversion but not for inclination. We conclude image-free computer navigation was not better than conventional instrumentation with the surgeons' visual cues for acetabular cup placement. Six Sigma analysis allows comparison of various methods of referencing with literature controls, and our data suggest CT referencing is the most precise method.

Cup positioning in THA: current status and pitfalls. A systematic evaluation of the literature

The correct determination of cup orientation in THA regarding the intraoperative as well as the postoperative assessment due to the pelvic tilt and rotation with inexact incorporation of the pelvis is uncertain. The anterior pelvic plane (APP) seems to be the most reliable reference frame and computer-assisted navigation systems seem to provide the best tool for correct implantation to date. For the intraoperative assessment of the APP, the exact determination of the bony landmarks is mandatory. For the standard plain radiography, standardized positioning of the patient and approximation of pelvic tilt by a lateral view are mandatory. An additional CT must be carried out for certain indications. More emphasis has to be given to the individuality of pelvic tilt and range of motion.

Pelvic balance in sagittal and Lewinnek reference planes in the standing, supine and sitting positions

INTRODUCTION

Sagittal pelvic balance is a recognized factor influencing targeted acetabular-component anteversion during total hip arthroplasty implantation. However, no studies in the literature have systematically reported pelvic parameters data in the standing, sitting and supine positions.

HYPOTHESIS

Variations in acetabular cup orientation can be traced to eventual pelvic balance changes in one of these three usual positions.

MATERIALS AND METHODS

In these three positions (supine, standing and sitting), pelvic anatomical parameters and reference planes were radiologically defined from a group of 67 patients (average age: 70.2+/-3.2 years). The complete X-rays individual sets were digitized and measurements were obtained by a single operator using a Spineview software (previously, strictly validated for these kind of measurements). Positioning according to the Lewinnek pelvic coordinate system, which is considered as a possible source of errors when vertically standing or horizontally lying, was also investigated.

RESULTS

The average pelvic incidence of 59.6 degrees did not vary in the sitting, supine or standing positions, with no statistically significant difference between sexes. The Legaye equation--pelvic incidence is equals to pelvic version plus sacral slope--was verified. Pelvic version increased by an average 22 degrees from the sitting to the supine or standing positions. Sacral slope varied in a reverse order. Pelvic-femoral angle (PFA) decreased by 20 degrees from the standing to the supine position. The Lewinnek plane was located 4 degrees posterior to the vertical plane. Whatever the position adopted, pelvi-Lewinnek angle appeared constant, averaging 12 degrees.

DISCUSSION

The average pelvic incidence in this series was high, most probably associated with advancing patient age and/or pathology. The concept of functional anteversion appeared critical when taking into account pelvic version variations (according to the position, sitting, supine or standing) positions. The Lewinnek plane, commonly accepted as the reference plane for hip navigation, was individualised to each patient and should not be mistaken with the vertical plane; positioning of the femur in relation to the Lewinnek plane was also specific to each patient. Cumulative approximation on these two parameters at surgery resulted in a combined imprecision of 26 degrees when standing and 36 degrees when lying down. We have thus defined crucial parameters to be integrated in computer-assisted hip surgery softwares: positional variations of the pelvic version (functional anteversion), positioning of the Lewinnek plane, and PFA value (both specifically patient's dependant). If integration of these parameters into new sofwares versions appears possible, this would represent a reliable compromise between maximum prosthetic stability, maximum joint amplitudes and elimination of possible prosthetic conflict.

Optimization of total hip arthroplasty implantation: is the anterior pelvic plane concept valid?

The anterior pelvic plane (APP) is currently used as superficial anatomical landmark for three-dimensional orientation during total hip arthroplasty (THA), specifically when using computer aided surgery. However, the actual parameter for characterizing the pelvic orientation is the sacral slope, which correlates with other functional spinal parameters. The goal of the paper was to investigate relationships between APP and sacral slope. Both were measured on 328 lateral radiographs of the pelvis in standing position by two observers. The poor correlation between APP and sacral slope suggest keeping using the reference to the APP for the per-operative orientation in the 3D space, while individually adjusting the preoperative planning to the sacral slope.

In vitro investigation of the influence of pelvic tilt on acetabular cup alignment

This study investigates the influence of pelvic tilt on conventional alignment of acetabular cups. Cementless cups were aligned into a synthetic replica of the pelvis 300 times at different pelvic tilts. At +10 degrees pelvic tilt, average cup inclination was 46.2 degrees (32 degrees to 65 degrees ; +/-7.0 degrees ), and average cup anteversion was 19.8 degrees (4 degrees to 37 degrees ; +/-9.1 degrees ). At neutral pelvic tilt, inclination was 44.5 degrees (28 degrees to 59 degrees ; +/-7.2 degrees ), and anteversion was 15.6 degrees (-5 degrees to 33 degrees ; +/-8.1 degrees ). At -10 degrees pelvic tilt, inclination was 42.6 degrees (25 degrees to 61 degrees ; +/-7.2 degrees ), and anteversion was 10.5 degrees (-10 degrees to 37 degrees ; +/-12.2 degrees ). Overall, 50% of the cups were positioned outside the safe zone: 46% in pelvic inclination, 42% in neutral position, and 63% in pelvic reclination (P = .007). This study shows the considerable inaccuracies of conventional cup implantation by experienced and trainee surgeons and shows the influence of pelvic tilt on acetabular cup alignment.

Validation of a computer navigation system and a CT method for determination of the orientation of implanted acetabular cup in total hip arthroplasty: a cadaver study

BACKGROUND

Successful hip reconstruction to restore the normal hip biomechanics requires precise placement of implants. Computer assisted navigation in total hip arthroplasty has been proposed to have the potential to help achieve a high accuracy in implant placement. The goal of the study was to evaluate the accuracy of an imageless computer navigation system on cadavers and to validate a non-invasive computed tomography method for post-operative determination of acetabular cup orientation.

METHODS

Total hip arthroplasty was performed on seven cadaver hips with the aid of an imageless computer navigation system. The achieved cup orientation were recorded using three methods, (1) intra-operatively using the imageless computer navigation system, (2) post-operatively with direct bone digitization and (3) with a computed tomography based three dimensional model interpreted by three raters. Measurement from the direct bone digitization was taken as the gold standard to evaluate the other two methods. The intra-rater and inter-rater consistency of the computer tomography-model method were assessed by Cronbach's alpha determination.

FINDINGS

Compared with the cup orientation obtained from the direct bone digitization, the average difference for anteversion and abduction were 3.3 (3.5) degrees (P=0.045) and 0.6 (3.7) degrees , respectively, for navigation reading. The average differences for computer tomography-model for three raters were 0.5 (2.1) degrees , 0.8 (1.5) degrees and 3.2 (3.3) degrees (P=0.043) for anteversion and 0.4 (1.6) degrees , 0.3 (1.6) degrees and 2.1 (2.7) degrees for abduction. The intra-rater consistency ranged from 0.626 for a novice rater to over 0.97 for experience raters. The inter-rater consistency (including novice and experienced raters) was over 0.90.

INTERPRETATION

While the values for cup orientation determined with imageless computer navigation were comparable to those from direct bone and implant digitization, the measurement for anteversion obtained was not as accurate as that for abduction. The proposed computer tomography-model method has an excellent intra-rater consistency for experienced raters, as well as an excellent overall inter-rater consistency. The study confirms that a non-invasive computed tomography based model analysis can be used in clinical practice as a valid method for post-operatively evaluating the orientation of the acetabular component.

Navigated non-image-based registration of the position of the pelvis during THR. An accuracy and reproducibility study

The precise recording of the position of the pelvis is a prerequisite for total hip replacement (THR). The anterior pelvic plane is an accepted reference for determining the 3D pelvic orientation. We hypothesized that cutaneous palpation of this plane was accurate and reproducible. Ten consecutive navigated implantations of THR prostheses were studied. In each case, four palpations of both anterior iliac spines and the pubic symphysis were performed with a navigated stylus. The first palpation was made on actual bone contours through a skin puncture and was considered as the reference. The other three palpations were made over the intact skin as a normal intra-operative procedure. There was no significant difference between the pelvic orientations measured by the three cutaneous palpations, or between the orientations measured by transcutaneous palpation and the mean result with cutaneous palpation. Cutaneous palpation can be considered as a reliable technique for the definition of pelvic orientation during THR with the non-image-based system employed.

Enhanced acetabular component positioning through computer-assisted navigation

Optimal positioning of the acetabular component improves the long-term success of total hip arthroplasty by reducing the rate of adverse outcomes, such as component wear and dislocation. Mechanical guides designed to facilitate proper component orientation are inadequate, as they do not account for variations in patient position and pelvic motion during surgery. Pioneering image-guided surgical navigation systems were developed to provide surgeons with improved methods for intraoperatively measuring orientation and alignment. Although enhanced orientation has been reported with such systems, they require preoperative CT scans and are therefore limited by the need for preplanning, the necessity of matching CT data with the actual patient position, and the additional costs associated with CT. The recent development of CT-free navigational tools addresses these disadvantages and offers real-time surgical feedback regarding the actual position of the acetabular component and instruments relative to the pelvis. Proper training and enhanced identification of bony landmarks will improve upon the success of these systems.

Anatomic hip range of motion after implantation during total hip arthroplasty as measured by a navigation system

Simulation of prosthetic impingement is important for preventing complications after total hip arthroplasty (THA). Although the anatomical hip range of motion (ROM) in patients after THA is an essential parameter for these simulations, previous simulation studies substituted various clinical hip ROMs for the anatomical hip ROM. Using a navigation system, anatomical hip ROM was accurately assessed after implantation during primary THA in 30 patients. We found that the hip could be passively moved to 113 degrees of flexion, 34 degrees of extension, 46 degrees of abduction, 75 degrees of internal rotation, and 36 degrees of external rotation. Almost all reference hip ROMs used in previous simulations were smaller than these values. Therefore, wider hip ROM values should be used as parameters for such simulations.

Comparison of fluoroscopic and imageless registration in surgical navigation of the acetabular component

OBJECTIVE

This study compared the repeatability and reproducibility of acetabular component positioning using imageless and fluoroscopic-referenced navigation methods.

METHODS

A single cadaveric pelvis had a modular acetabular component securely fixed. Cup position was evaluated using imageless and fluoroscopic registration techniques. These were compared to measurements of a coordinate measuring machine (CMM) and a validated CT scan protocol.

RESULTS

The CMM-determined anatomical acetabular inclination measurement was 46.02 degrees (SD = 1.07), while the CMM-determined anatomical anteversion (pubic symphysis) was 15.79 degrees (SD = 0.41). Computed tomography revealed inclination of 42.2 degrees (SD = 0.65); anteversion with pubic tubercle referencing of 12.1 degrees (SD = 0.14); and anteversion with pubic symphysis referencing of 14.3 degrees (SD = 0.89). Evaluation of repeatability (one surgeon; n = 8) with the imageless system (pubic tubercle) revealed inclination of 41.8 degrees (SD = 0.46) and anteversion of 11.2 degrees (SD = 0.8). For the fluoroscopic system (pubic symphysis), inclination was 42.8 degrees (SD = 1.6) and anteversion was 17.6 degrees (SD = 3.1). Evaluation of reproducibility (three surgeons; n = 24) with the imageless system revealed inclination of 41.8 degrees (SD = 0.82) and anteversion of 15.2 degrees (SD = 1.06). For the fluoroscopic system, inclination was 48.5 degrees (SD = 0.9) and anteversion was 17.8 degrees (SD = 2.5). Imageless referencing of cup inclination and anteversion were found to be process capable using the Six Sigma Cp and Cpk capability indices. Fluoroscopic referencing was process capable for cup inclination but not for cup anteversion (Cp - 1.1; Cpk - 1.0). An F-test revealed significantly greater variance with fluoroscopic referenced anteversion (p < 0.002).

CONCLUSIONS

Imageless referencing was process capable for computer navigation of cup placement in the ex-vivo setting. Fluoroscopic referencing for pelvic landmarks is problematic as locating points from radiographic images is difficult, especially for cup anteversion.

Fiabilité limitée du plan pelvien antérieur pour l’implantation assistée par informatique de la cupule d’une prothèse totale de hanche

PURPOSE OF THE STUDY

The anterior pelvic plane, also called the Lewinnek plane, is commonly used as the reference plane to guide imageless computer assisted surgery for total hip arthroplasty (THA) because this plane is considered to be globally vertical in the standing position. To our knowledge, no study has evaluated this hypothesis or the potential variations in orientation as a function of gender, position of the subject, or THA insertion. The purpose of this work was to examine these different hypotheses in a radio-clinical study.

MATERIAL AND METHODS

The orientation of the anterior pelvic plane was measured in relation to the vertical plane on plain lateral x-rays of the pelvis in the standing position. X-rays were studied for 106 patients: 1) 82 patients with a THA (40 with at least one dislocation, 42 with a stable hip selected randomly, 19 with a standing lateral x-ray before and after arthroplasty) and 24 control subjects for whom lateral images were obtained in the supine and standing positions to assess potential position-related changes in orientation.

RESULTS

The orientation of the anterior pelvic plane was not affected by gender or age. The anterior pelvic plane formed an angle greater than 5 degrees with the vertical plane in 38% of patients and more than 10 degrees in 13%. The orientation of the anterior pelvic plane was not significantly different between the study groups (control versus THA) nor between the THA groups (stable versus dislocated). The supine position modified significantly the orientation of the anterior pelvic plane which changed on average from 1.20 degrees to -2.25 degrees ; the change was greater than 7 degrees in twelve subjects. Implantation of a THA did not modify signi-ficantly the orientation of the anterior pelvic plane in the standing position for the 19 subjects [the variations were small (-1 degrees to 7 degrees on average, range -21 degrees to 8 degrees ) but greater than 5 degrees for 7 of 19 subjects].

DISCUSSION

Most teams use the anterior pelvic plane to guide computer-assisted navigation, considering that this plane is vertical in the standing position. Our findings show however that this is not true for 38% of subjects with a margin of error of 10 degrees , i.e. about half of the anatomic anteversion of the acetabulum. Moving to the standing position would produce a significant variation in the orientation of the anterior plane of the pelvis. This is a source of error which has not been integrated into most imageless navigation systems. Similarly variations in the position of the pelvis from the standing to sitting and supine positions which can produce impingement or dislocation have not been taken into consideration.

CONCLUSION

Variations in the orientation of the anterior pelvic plane in relation to the vertical would suggest that this plane is not a reliable reference. To our knowledge, there is no reliable reference which can be easily identified during the operation which would take into account variations in the position of the pelvis. We thus believe it would be preferable to attempt to operate without a reference plane, relying on a more kinematic approach to guide computer-assisted implantation of the THA cup.

The transverse pelvic plane: a new and practical reference frame for hip arthroplasty

Acetabular orientation is a crucial part of the planning and performance of hip arthroplasty. Currently, most surgeons use the anterior pelvic plane (APP) to orient themselves when navigating the acetabulum, despite the fact that the anterior superior iliac spine (ASIS) of the unaffected side is not accessible in the lateral position. We have identified another plane, the transverse pelvic plane (TPP), relying on both posterior superior iliac spines and the ASIS of the affected side. In a CT-based study, this plane was found to be as reliable as the APP for the orientation of the cup in both anteversion and inclination. The substantial variation in both measurements between patients is documented, and their relation to the "safe zone" is shown. We recommend consideration of the TPP by surgeons who perform arthroplasty in the lateral position. It may reduce operating time and improve accuracy in computer-assisted arthroplasty.

Positionnement acétabulaire assisté par ordinateur dans les prothèses totales de hanche

PURPOSE OF THE STUDY

Actetabular component malpositioning during total hip arthroplasty (THA) increases the risk of dislocation, reduces the range of motion, and can be the cause of early wear and loosening. There have been numerous reports on the optimal orientation of the acebaular component in THA. Lewinnek et al recommended an abduction angle of 40+/-10 degrees and an anteversion of 15+/-10 degrees for cup alignment in THA. In order to prevent malpostioned hip implants and improve the reproducibility of implant alignment in THA, numerous computer-assisted orthopedic systems have been described, using computed tomography (CT)-base or imageless navigation. Among the imageless systems available, one is based on Bone Morphing technology initially described by Stindel for computer-assisted knee arthroplasty and adapted for THA. The purpose of this study was to compare computer-assisted acetabular component insertion versus free hand placement.

MATERIAL AND METHODS

A controlled randomized matched prospective study was performed in two groups of 30 patients. The study was approved by the French Ethics Committee. In the first group, cup positioning was assisted by an imageless computer-assisted orthopedics system based on Bone Morphing(R) (CAOS+ group). In the control group, cup placement was free hand (CAOS- group). The same cementless cup was used in both groups. The same surgeon performed all procedures using an anterolateral approach. Cup anteversion and abduction angles were measured on 3D CT scan reconstructions obtained postoperatively for each patient by an independent observer using a special cup evaluation software.

RESULTS

There were 16 males and 14 females in each group, mean age was 62 years (range 24-80) years, and mean body mass index was 25 in each group. Mean additional time of the CAOS procedure was 12 minutes (range 8-20). Intraoperative subjective agreement of the surgeon with the computer guidance system demonstrated a high correlation in 23 cases, a weak correlation in six cases and poor correlation in one case. There were no statistical differences between the CAOS+ and the CAOS- group regarding means of the abduction and anteversion angles, but a significant range of variance, the lowest variations being observed in the CAOS+ group.

DISCUSSION

This study has shown the accuracy of cup positioning using a CT-free navigation system in a prospective randomized controlled protocol.

Comparison of conventional versus computer-navigated acetabular component insertion

This retrospective study compared the efficacy of computer navigation and conventional freehand techniques to place acetabular component orientation in the target position of acetabular cup inclination of 45 degrees and anteversion of 20 degrees . We selected 69 patients who had undergone total hip arthroplasty with freehand cup insertion who had computed tomography (CT) to plan for acetabular cup placement of the contralateral side. This group was compared with 98 patients who underwent CT-based cup insertion, and all had postoperative CT. After CT-based cup placement, average cup position was 43 degrees inclination (95% confidence interval [CI], 0.97; range, 30 degrees -58 degrees ) and 22.2 degrees anteversion (95% CI, 1.72; range, 5 degrees -38 degrees ). For freehand, average cup position was 45.7 degrees inclination (95% CI, 2.63 degrees ; range, 26 degrees -64 degrees ) and 28.5 degrees anteversion (95% CI, 3.80 degrees ; range, 9 degrees -53 degrees ). F ratio was 5.56 for inclination and 3.67 for anteversion (P < .0001). This study demonstrated substantial statistical improvement in accuracy of cup placement using CT-based navigation compared with freehand methods.

Misinterpretation of cup anteversion in total hip arthroplasty using planar radiography

INTRODUCTION

Anteroposterior pelvic radiographs are routinely used to monitor cup orientation in total hip arthroplasty (THA). Analysis of planar radiographs leads to a certain degree of measurement error for the cup anteversion (AV). With the current study, we wanted to clarify whether planar radiography can be used for accurate evaluation of the THA position.

MATERIALS AND METHODS

The postoperative orientation of pelvic implants in 42 patients was analyzed according to five documented mathematical algorithms using planar radiographs. Postoperative computed tomography (CT) pelvis scans were available for all patients. A CT-based navigation system was used to determine AV.

RESULTS

The comparison showed that all five formulas presented substantial variations for the AV angle. Of these, Widmer's algorithm presented the smallest difference compared to the CT. Misinterpretation of postoperative planar radiographs is a common problem in THA.

CONCLUSION

Planar radiographs are too imprecise for exact evaluation of the correct cup AV after THA. CT-based analysis may be necessary if exact values are required.

Positionnement de la cupule d’une prothèse totale de hanche par navigation sans image basée sur la cinématique articulaire

PURPOSE OF THE STUDY

Most navigation systems for computer-assisted total hip arthroplasty (THA) require prior computed tomography (CT) or acquisition of multiple bone landmarks on the pelvis. In order to avoid these problems, we developed a computer-assisted navigation system without CT based on a kinematic approach to the hip joint. The principle is to orient the cup in relation to the cone describing the hip joint range of motion. The purpose of this work was to analyze preliminary results.

MATERIAL AND METHODS

Eighteen primary THA were implanted with the system (16 women, two men, mean age 68 +/- 7.8 years, age range 54-83 years, 18 degenerative hip disease). Two optoelectronic captors were fixed percutaneously on the pelvis and the distal femur. The acetabulum was prepared first followed by the femur using reamers and broaches of increasing size. The last broach placed in the femur was equipped with a large head adapted to the newly prepared acetabulum. The range of hip motion was recorded to determine the maximal range of motion cone. The acetabular cup was thus positioned in order the prosthesis range of motion included entirely the maximal range of motion of the hip joint.

RESULTS

One patient fell three weeks after implantation causing posterior dislocation; there was no recurrence. The Postel-Merle-d'Aubligné score improved from 8 +/- 2.9 (range 3-12) preoperatively to 17 +/- 0.8 (range 16-18) at last follow-up. None of the patients complained about the captor insertion and there were no cases of hematoma or fracture. Operative time was 35-40 minutes longer for the first four cases and was progressively reduced 15-20 minutes for the last four cases. Mean leg length discrepancy was 5.6 +/- 7.5 mm (range 0-25) before implantation and 0.6 +/- 3 mm (range -5 to 10 mm) at last follow-up. CT-scan measurements revealed a mean anteversion of the femoral implant of 18.2 +/- 8.5 degrees (range 0-31). Anatomic anteversion of the cup (measured from the pelvis landmark and thus independently of the position of the pelvis) was 24.7 +/- 8.8 degrees (range 12-40). The sum of the femoral and anatomic acetabular anteversions was 43 +/- 13.1 degrees (range 22-71). Anteversions were 16 degrees for the cup and 16 degrees for the stem for the one case of dislocation.

CONCLUSION

This method can be used in routine without lengthening operative time significantly. It safely controls leg length and helps position the cup. This study demonstrated that there is no ideal position for the cup which can be used for all patients. Because of the wide range of inclination and anteversion figures, half of the cases were outside the safety zone recommended by Lewinnek.

Endoscopic anterior cruciate ligament reconstruction using a computer-assisted fluoroscopic navigation system

BACKGROUND

During anterior cruciate ligament (ACL) reconstruction, placement of the reconstructed ligament affects the clinical results. To accomplish accurate and reproducible placement of the tibial bone tunnel, we employed a fluoroscopic navigation system for endoscopic ACL reconstruction. In this study, preciseness of the tibial tunnel placement was evaluated, and the advantages and disadvantages of this navigation system for endoscopic ACL reconstruction are discussed.

METHODS

Altogether, 16 knees of 16 patients who had undergone ACL reconstruction using this system (navi group) were evaluated regarding the positioning of the tibial tunnel against Blumensaat's line using X-p and the route of the graft by magnetic resonance imaging (MRI). Another 16 knees of 16 patients who underwent endoscopic ACL reconstruction without the navigation system were the controls (control group).

RESULTS

At the 1-year follow-up, maximally extended lateral knee X-p revealed that the anterior edge of the tibial tunnel and Blumensaat's line were almost aligned and that roof impingement was avoided; the T2-weighted MR images showed that the graft was placed close to and parallel to the intercondylar roof in all the knees of the navi group. The ratio of the distance between Blumensaat's line and the anterior edge of the tibial tunnel at the level of the tibial plateau to the anteroposterior width in fully extended true lateral radiographs was 2.7% +/- 3.4% in the navi group and 8.4% +/- 7.4% in the control group.

CONCLUSIONS

The computer-assisted fluoroscopic navigation system improves accuracy and decreases dispersion of the tibial tunnel placement against Blumensaat's line in single-bundle ACL reconstruction. This innovative device renders the reconstruction procedure more reliable, eliminating the problem of skeletal variation among patients. However, the function of this navigation system for femoral tunnel placement is insufficient at present. Further refinement of the system is necessary, and the method of application requires improvement.

Four-dimensional model of the lower extremity after total hip arthroplasty

We have developed a four-dimensional (4D) model of the lower extremities after total hip arthroplasty in patients. The model can aid in preventing complications such as dislocation and wearing of the sliding surface. The skeletal structure and implant alignment were obtained from CT data. We applied registration method using CAD data to estimate accurate implant alignment from scattered CT data. The reconstructed three-dimensional (3D) skeletal model was combined with motion capture data that were acquired by an optical tracking system. We displayed the patient's skeletal movement and analyzed several parameters that relate to complications. The patient's skeletal model was superimposed onto video footage that was taken by a synchronized and calibrated digital video camera. For validation of the measurement error in this system, we used open MRI to evaluate the relative movement between skin markers and bones. This system visually represents not only the 3D anatomical structure, but also 4D dynamic functions that include the time sequential transitions of components and their positions. The open MRI results indicated that the average error in hip angle was within 5 degrees for each static posture. This system enables clinicians to analyze patient's motions on the basis of individual differences. We found that our system was an effective tool in providing precise guidance of daily postoperative motions that was individualized for each patient. This system will be applicable for surgical planning, assessment of postoperative activities, and the development of new surgical techniques, materials, and prosthetic designs.

Total hip arthroplasty through a minimal posterior approach using imageless computer-assisted hip navigation

With decreased exposure in a minimal posterior hip incision, navigation with computer assistance provides an alternative method to accurately place the components. This study compares the results of a series of 82 navigated total hips to a retrospective cohort of 50 hips done with conventional instruments. The surgical incision split the gluteus maximus but did not extend distally into the fascia. The goal of cup placement was 40 degrees to 45 degrees of abduction (ABD) and 17 degrees to 23 degrees of flexion (FLX). Postoperative radiographs were digitized and analyzed. In the study group, 82 hips were done with computer assistance and compared with 50 done with conventional methods (manual) through the same incision. Radiographic analysis showed that there were significantly fewer cases inside the desired range of ABD and FLX in the manual group (6%) compared with the navigation group (30%), P = .001, with significant differences in the variances of ABD and FLX (P = .011 and .028). Improved accuracy of cup placement was found with increased experience in the use of navigation by the surgeon over the time of the series. The use of a computer-assisted surgery navigation system with a minimal posterior incision for a total hip arthroplasty results in significantly more reproducible acetabular component placement.

Reducing the risk of dislocation after total hip arthroplasty: the effect of orientation of the acetabular component

Malposition of the acetabular component is a risk factor for post-operative dislocation after total hip replacement (THR). We have investigated the influence of the orientation of the acetabular component on the probability of dislocation. Radiological anteversion and abduction of the component of 127 hips which dislocated post-operatively were measured by Einzel-Bild-Röentgen-Analysis and compared with those in a control group of 342 patients. In the control group, the mean value of anteversion was 15 degrees and of abduction 44 degrees. Patients with anterior dislocation after primary THR showed significant differences in the mean angle of anteversion (17 degrees), and abduction (48 degrees) as did patients with posterior dislocation (anteversion 11 degrees, abduction 42 degrees). After revision patients with posterior dislocation showed significant differences in anteversion (12 degrees) and abduction (40 degrees). Our results demonstrate the importance of accurate positioning of the acetabular component in order to reduce the frequency of subsequent dislocations. Radiological anteversion of 15 degrees and abduction of 45 degrees are the lowest at-risk values for dislocation.

Greater accuracy in positioning of the acetabular cup by using an image-free navigation system

In a prospective and randomised clinical study, acetabular cups were implanted free-hand (control group n=22) or with computer assistance using an image-free navigation system (study group n=23). The cup position was determined postoperatively on pelvic CT. An average inclination of 42.3 degrees (range: 30 degrees -53 degrees ; SD+/-7.0 degrees ) and an average anteversion of 24.0 degrees (range: -3 degrees to 51 degrees ; SD+/-15.0 degrees ) were found in the control group, and an average inclination of 45.0 degrees (range: 40 degrees -50 degrees ; SD+/-2.8 degrees ) and an average anteversion of 14.4 degrees (range: 5 degrees -25 degrees ; SS+/-5.0 degrees ) in the computer-assisted study group. The deviations from the desired cup position (45 degrees inclination, 15 degrees anteversion) were significantly lower in the computer-assisted study group (p<0.001 each). While only 11/22 of the cups in the control group were within the Lewinnek safe zone, 21/23 of the cups in the study group were placed in this target region (p=0.003).

Anatomic referencing of cup orientation in total hip arthroplasty

Pelvic tilt and rotation can drastically affect the apparent cup orientation on conventional anteroposterior pelvic radiographs. It was hypothesized that nonstandardized radiographic cup version and abduction can differ significantly from the corresponding anatomic angles if not measured to the anterior pelvic plane, defined by the pubic tubercles and the anterior superior iliac spine. Differences in preoperative and postoperative pelvic orientation and their influence on radiographic measurements of the two angles were analyzed. Conventional radiographs and preoperative and postoperative computed tomography scans of 37 total hip arthroplasties were compared. Calculations were made with the preoperative planning station of a computer navigation system. Significantly smaller values of cup version were seen on nonstandardized radiographs, whereas abduction could be measured reliably when referenced to horizontal pelvic landmarks seen on radiographs. The underlying cause for this difference was the variation of pelvic tilt that ranged 27 degrees (range, -7 degrees -20 degrees). Influence of pelvic tilt on the apparent cup orientation can be seen with simple nomograms. The orientation of the anterior pelvic plane before and after surgery did not differ. We think that version measurement on nonstandardized radiographs without anatomic referencing is highly inaccurate.

LEVEL OF EVIDENCE

Diagnostic study, Level II-1 (development of diagnostic criteria on basis of consecutive patients--with universally applied reference "gold" standard). See Guidelines for Authors for a complete description of levels of evidence.

Improved targeting device and computer navigation for accurate placement of brachytherapy needles

Successful treatment of skull base tumors with interstitial brachytherapy requires high targeting accuracy for the brachytherapy needles to avoid harming vital anatomical structures. To enable safe placement of the needles in this area, we developed an image-based planning and navigation system for brachytherapy, which includes a custom-made mechanical positioning arm that allows rough and fine adjustment of the needle position. The fine-adjustment mechanism consists of an XYZ microstage at the base of the arm and a needle holder with two fine-adjustable inclinations. The rotation axes of the inclinations cross at the tip of the needle so that the inclinational adjustments do not interfere with the translational adjustments. A vacuum cushion and a noninvasive fixation frame are used for the head immobilization. To avoid mechanical bending of the needles due to the weight of attached tracking markers, which would be detrimental for targeting accuracy, only a single LED marker on the tail of the needle is used. An experimental phantom-based targeting study with this setup demonstrated that a positioning accuracy of 1.4 mm (rms) can be achieved. The study showed that the proposed setup allows brachytherapy needles to be easily aligned and inserted with high targeting accuracy according to a preliminary plan. The achievable accuracy is higher than if the needles are inserted manually. The proposed system can be linked to a standard afterloader and standard dosimetry planning module. The associated additional effort is reasonable for the clinical practice and therefore the proposed procedure provides a promising tool for the safe treatment of tumors in the skull base area.

Computer-assisted cup placement techniques in total hip arthroplasty improve accuracy of placement

Malposition of the acetabular component during hip arthroplasty increases the occurrence of impingement, reduces range of motion, and increases the risk of dislocation and long-term wear. To prevent malpositioned hip implants, an increasing number of computer-assisted orthopaedic systems have been described, but their accuracy is not well established. The purpose of this study was to determine the reproducibility and accuracy of conventional versus computer-assisted techniques for positioning the acetabular component in total hip arthroplasty. Using a lateral approach, 150 cups were placed by 10 surgeons in 10 identical plastic pelvis models (freehand, with a mechanical guide, using computer assistance). Conditions for cup implantations were made to mimic the operating room situation. Preoperative planning was done from a computed tomography scan. The accuracy of cup abduction and anteversion was assessed with an electromagnetic system. Freehand placement revealed a mean accuracy of cup anteversion and abduction of 10 degrees and 3.5 degrees, respectively (maximum error, 35 degrees). With the cup positioner, these angles measured 8 degrees and 4 degrees (maximum error, 29.8 degrees), respectively, and using computer assistance, 1.5 degrees and 2.5 degrees degrees (maximum error, 8 degrees), respectively. Computer-assisted cup placement was an accurate and reproducible technique for total hip arthroplasty. It was more accurate than traditional methods of cup positioning.