LMJSSP for analysis of prophylactic lubricants, spermicides and residues

DNA evidence in sexual assault cases have proven increasingly difficult to obtain and analyse due to increased condom use. With more interest in alternatives to DNA evidence, prophylactic lubricants, spermicides and residues may be interesting prospects. Current interest in the analysis of prophylactic residues focuses on the evaluation and identification of lubricants and constituents, primarily through gas chromatography or Fourier transform infrared spectroscopy. Though cost-effective methods, extensive sample preparation and destructive modes of analysis remain an area for improvement. As a result, the focus has since shifted to ambient ionization methods that offer adequate sensitivity and reduced sample preparation. The Liquid Microjunction Surface Sampling Probe (LMJSSP) is a versatile ambient ionization source that employs a probe that supports a continuously flushing droplet that extracts analytes when placed in contact with a surface. The analytes are aspirated into the mass spectrometer with a Venturi pressure. In this work we use the LMJSSP to analyse the trace transfer of condom lubricant to different types of fabric (cotton, cotton-spandex, and denim). Furthermore, we examine the sensitivity and storage conditions for the direct analysis method on different swab types (cotton, silicone, and foam). Additionally, Principal Component Analysis (PCA) and Maximally Collapsing Metric Learning (MCML) are utilized for visualization of differentiability of commercially available condom brands including Durex™ and Trojan™, and product subtypes. The results present an interesting multi-disciplinary approach of using a direct liquid extraction ambient ionization technique and machine learning to improve the overall workflow for the analysis of lubricants, swabs and fabrics. Machine learning algorithms were able to differentiate between inherent differences of Durex™ and Trojan™ condoms.

Metabolomics patterns of breast cancer tumors using mass spectrometry imaging

PURPOSE

Intraoperative assessment of surgical margins is important for reducing the rate of revisions in breast conserving surgery for palpable malignant tumors. The hypothesis was that metabolomics methods, based on mass spectrometry, could find patterns of relative abundances of molecules that distinguish clusters of benign tissue and cancer in surgical resections.

METHODS

Excisions from 8 patients were used to acquire 112,317 mass spectrometry signals by desorption electrospray ionization. A process of nonnegative matrix factorization and graph decomposition produced clusters that were approximated as affine spaces. Each signal's distance to the affine space of a cluster was used to visualize the clustering.

RESULTS

The distance maps were superior to binary clustering in identifying cancer regions. They were particularly effective at finding cancer regions that were discontinuously distributed within benign tissue.

CONCLUSIONS

Desorption electrospray ionization mass spectrometry, which has been shown to be useful intraoperatively, can acquire signals that distinguish malignant from benign breast tissue in surgically excised tumors. The method may be suitable for real-time surgical decisions based on cancer margins.

Technical report: Rapid intraoperative reconstruction of cranial implants using additively manufactured moulds

During craniotomies, a portion of the calvarium or skull is removed to gain access to the intracranial space. When it is not possible to re-implant the flap, surgeons may repair the defect intraoperatively or at a later date. With larger defects being more difficult to repair intraoperatively, we investigated a method for the creation of patient-specific moulds for ad hoc bone flap reconstruction using rapid prototyping. Patient-specific moulds were created based on light scanned models of the defect, using custom software and rapid prototyping. Polymethylmethacrylate bone implants were created for three retrospective craniotomy cases and evaluated based on original flap and skull reconstruction accuracy. Bone implants created using our moulding method reconstruct the original flap and skull with an average reconstruction accuracy of 0.82 and 1.3 mm, respectively. Average skull reconstruction accuracy obtained by surgeons performing freehand implant reconstruction was 1.49 mm. Time needed to generate moulds was between 2 h and 45 min and 6 h and 20 min. Improvements to current printing technology will make this procedure technically feasible for future cranial procedures.

Mechanically-induced osteophyte in the rat knee

OBJECTIVES

Osteophytes are common anatomical signs of advanced osteoarthritis. It remains unclear whether they develop from physio-molecular, and/or mechanical stimuli. This study examined the effects of mechanical impact on the knee joint periosteum leading to osteophyte formation.

DESIGN

Eighteen mature rats received one single impact load of 53 N (30 MPa) to the periosteum of the experimental medial femoral condyles. Contralateral knees were used as controls. Animals were sacrificed at 24 h, 3, 6 and 9 weeks post-impact. Distal femurs were harvested and prepared for histology. Hematoxylin and Eosin, and Masson's trichrome stained slides were examined by light microscopy. Nuclear density was quantified to assess the tissue reaction.

RESULTS

24 h: The synovium membrane, fibrous and cambium periosteum were damaged. Blood infiltration pooled in the impacted medial collateral ligament (MCL) region. Week 3: A cartilaginous tissue spur, chondrophyte, was found in every rat at the impacted site of the MCL. Chondrophytes were composed of fibrocartilage and cartilage matrix, with signs of cartilage mineralization and remodelling activity. Week 6: Chondrophytes presented signs of more advanced mineralisation, recognized as osteophytes. Week 9: Osteophytes appeared to be more mineralized with almost no cartilage tissue.

CONCLUSIONS

Osteophytes can be induced with a single mechanical impact applied to the periosteum in rat knees. These data indicate that a moderate trauma to the periosteal layer of the joint may play a role in osteophyte development.

Reliability of a novel 3-dimensional computed tomography method for reverse shoulder arthroplasty postoperative evaluation

Background

Long-term function and survival of reverse shoulder arthroplasties (RSAs) are reliant on component positioning and fixation. Conventional postoperative analysis is performed using plain radiographs or 2-dimensional (2D) computed tomography (CT) images. Although 3-dimensional (3D) CT would be preferred, its use is limited by metal artifacts. This study proposes a new 3D CT method for postoperative RSA evaluation and compares its interobserver reliability with conventional methods.

Materials and methods

Preoperative and postoperative CT scans, as well as postoperative radiographs, were obtained from 18 patients who underwent RSA implantation; the scapula, implant, and screws were reconstructed as 3D CT models. The postoperative 3D scapula and implant were imported into preoperative coordinates and matched to the preoperative scapula. Standardized scapula coordinates were defined, in which the glenoid baseplate version and inclination angle were measured. The percentage of screw volume in bone was measured from a Boolean intersection operation between the preoperative scapula and screw models. Four independent reviewers performed the measurements using 3D CT and conventional 2D methods. Intraclass correlation coefficients (ICCs) were used to compare the reliability of the methods.

Results

The 3D CT method showed excellent reliability (ICC > 0.75) in baseplate inclination (ICC = 0.92), version (ICC = 0.97), and screw volume in bone (ICC = 0.99). Conventional 2D methods demonstrated poor reliability (ICC < 0.4). For radiographs, inclination showed poor reliability (ICC = 0.09) and the screw percentage in bone showed fair reliability (ICC = 0.54). Version was not measured with plain radiographs. For 2D CT slice measurements, inclination showed poor reliability (ICC = 0.02), version showed excellent reliability (ICC = 0.81), and the screw percentage in bone showed poor reliability (ICC = 0.28).

Conclusion

The new 3D CT-based method for evaluating RSA glenoid implant positioning and screw volume in bone showed excellent reliability and overcame the metal-artifact limitation of postoperative CT and 3D CT reconstruction.

Deformable multimodal registration for navigation in beating-heart cardiac surgery

PURPOSE

Minimally invasive beating-heart surgery is currently performed using endoscopes and without navigation. Registration of intraoperative ultrasound to a preoperative cardiac CT scan is a valuable step toward image-guided navigation.

METHODS

The registration was achieved by first extracting a representative point set from each ultrasound image in the sequence using a deformable registration. A template shape representing the cardiac chambers was deformed through a hierarchy of affine transformations to match each ultrasound image using a generalized expectation maximization algorithm. These extracted point sets were matched to the CT by exhaustively searching over a large number of precomputed slices of 3D geometry. The result is a similarity transformation mapping the intraoperative ultrasound to preoperative CT.

RESULTS

Complete data sets were acquired for four patients. Transesophageal echocardiography ultrasound sequences were deformably registered to a model of oriented points with a mean error of 2.3 mm. Ultrasound and CT scans were registered to a mean of 3 mm, which is comparable to the error of 2.8 mm expected by merging ultrasound registration with uncertainty of cardiac CT.

CONCLUSION

The proposed algorithm registered 3D CT with dynamic 2D intraoperative imaging. The algorithm aligned the images in both space and time, needing neither dynamic CT imaging nor intraoperative electrocardiograms. The accuracy was sufficient for navigation in thoracoscopically guided beating-heart surgery.

Preservation of neural tissue with a formaldehyde-free phenol-based embalming protocol

The adverse effects formaldehyde fixation has on tissues both gross anatomically and histologically are well documented. Consequently, researchers are seeking alternative embalming techniques that better preserve in vivo characteristics of tissues. Phenol-based embalming is one method that has shown promise in its ability to adequately preserve the in vivo qualities of tissues through preliminary explorations at the gross anatomical level. The literature on phenol-based embalming is currently scarce, especially with regard to its effects on tissues at the microscopic level. For the current study we aimed to document the histologic effects of a formaldehyde-free phenol-based embalming solution on neural tissue, with the hope of providing novel insight into the effects of soft-embalming on tissues at the microscopic level. Cerebral and cerebellar tissue obtained from porcine brains was fixed in phenol- and formaldehyde-based fixatives; the latter served as a control. Fixed samples were processed for histological analysis. The phenol-based embalming solution provided excellent preservation of the cerebral and cerebellar tissue morphology. Of note was the decrease in separation artifact seen in both tissue types relative to the control tissue, as well as anomalous circular artifacts in the white matter. The results of this study indicate that the phenol-based embalming solution preserves neural tissue at the histological level, perhaps superiorly in many aspects when compared to the formaldehyde-fixed samples. Further investigations of both gross anatomy and histology are recommended on the basis of these promising new findings to determine its potential utilities within research and education. Clin. Anat. 32:224-230, 2019. © 2018 Wiley Periodicals, Inc.

Translatory hip kinematics measured with optoelectronic surgical navigation

PURPOSE

An optoelectronic surgical navigation system was used to detect small but measurable translational motion of human hip cadavers in high-range passive motions. Kinematic data were also examined to demonstrate the role of soft tissues in constraining hip translation.

METHODS

Twelve cadaver hips were scanned using CT, instrumented for navigation, and passively taken through motion assessment. Center of the femoral head was tracked in the acetabular coordinates. Maximum non-impinging translation of the femoral head for each specimen hip was reported. This was repeated for 5 tissue states: whole, exposed to the capsule, partially or fully incised capsule, resection of the ligamentum teres and labrectomy. Femoral motions were compared to the reported value for ideal ball and socket model.

RESULTS

Whole and exposed hips underwent maximal translations of [Formula: see text] and [Formula: see text] mm, respectively. These translational motions were statistically significantly different from reported value for a purely spherical joint, [Formula: see text]. Further tissue removal almost always significantly increased maximum non-impingement translational motion with [Formula: see text].

CONCLUSION

We found subtle but definite translations in every cadaver hip. There was no consistent pattern of translation. It is possible to use the surgical navigation systems for the assessment of human hip kinematics intra-operatively and improve the treatment of total hip arthroplasty patients by the knowledge of the fact that their hips translate. Better procedure selection and implantation optimization may arise from improved understanding of the motion of this critically important human joint.

Intraoperative application of hand-held structured light scanning: a feasibility study

PURPOSE

Structured light scanning is an emerging technology that shows potential in the field of medical imaging and image-guided surgery. The purpose of this study was to investigate the feasibility of applying a hand-held structured light scanner in the operating theatre as an intraoperative image modality and registration tool.

METHODS

We performed an in vitro study with three fresh frozen knee specimens and a clinical pilot study with three patients (one total knee arthroplasty and two hip replacements). Before the procedure, a CT scan of the affected joint was obtained and isosurface models of the anatomies were created. A conventional surgical exposure was performed, and a hand-held structured light scanner (Artec Group, Palo Alto, USA) was used to scan the exposed anatomy. Using the texture information of the scanned model, bony anatomy was selected and registered to the CT models. Registration RMS errors were documented, and distance maps between the scanned model and the CT model were created.

RESULTS

For the in vitro trial, the average RMS error was 1.00 mm for the femur and 1.17 mm for the tibia registration. We found comparable results during clinical trials, with an average RMS error of 1.3 mm.

CONCLUSIONS

The results of this preliminary study indicate that structured light scanning could be applied accurately and safely in a surgical environment. This could result in a variety of applications for these scanners in image-guided interventions as intraoperative imaging and registration tools.

Personalized Guides for Registration in Surgical Navigation

Personalized guides are increasingly used in orthopedic procedures but do not provide for intraoperative re-planning. This work presents a tracked guide that used physical registration to provide an anatomy-to-tracking coordinate frame transformation for surgical navigation. In a study using seven femoral models derived from clinical CT scans used for hip resurfacing, a guide characterization FRE of 0.4°±0.2°, drill-path drill-path angular TRE of 0.9°±0.4° and a positional TRE of 1.2mm±0.4mm were found; these values are comparable to conventional optical tracking accuracy. This novel use of a tracked guide may be particularly applicable to procedures that require a small surgical exposure, or when operating on anatomical regions with small bones that are difficult to track or reliably register.

A Toroidal Probe for Measuring Surgically Exposed Joint Centers

Maintaining the hip center can improve the success of a total hip arthroplasty. A novel probe design, based on mating a toroid with a sphere, was used for kinematic measurements of the femoral head center and implant center in a pre-clinical study of hip joints. In an electromagnetically tracked implementation tested in a laboratory environment, the device measured a spherical center to within 1.2±0.2 mm in a technical validation. Applied to a plastic model of a cadaveric femur, the center of the femoral head was measured to 1.8±0.4 mm and the implant was measured to within 1.5±0.5 mm. Because leg length changes and offset changes in conventional hip arthroplasty can be as much as 16 mm, this device has relatively high accuracy that may improve implant localization for the hip.

Calibration of mobile-gantry computed tomography for surgical navigation

PURPOSE

Image-guided interventions that use preoperative 3D computed tomography (CT) models are limited by the preoperative segmentation time 3D image and collection of intraoperative registration data. Intraoperative CT imaging can be ergonomically efficient in a direct navigation system if the imaging device is accurately calibrated. A mobile-gantry CT scanner offers improved patient safety but presents technical challenges beyond those of a conventional scanner. The goal was to calibrate an optoelectronic navigation system to mobile-gantry CT with millimeter-level accuracy.

METHODS

A custom calibration device was designed and manufactured. The calibrator contained optoelectronic markers for navigation reference and radio-opaque markers for CT reference. Calibrations were performed with a ceiling-mounted optoelectronic camera and with a portable camera, and then verified for accuracy.

RESULTS

The component fiducial registration errors were extremely small, being 0.36 mm, with standard deviation of 0.16 mm, for the ceiling-mounted camera, and 0.05 mm, with standard deviation of 0.01 mm, for the portable camera. The net target registration error, measured as RMS deviation, was 1.58 mm for the ceiling-mounted camera and 0.73 mm for the portable camera.

CONCLUSIONS

High-accuracy calibration of the mobile-gantry CT scanner was possible from a single preoperative CT image. A ceiling-mounted optoelectronic camera, which is ergonomically preferable, marginally met the accuracy criteria. The portable camera, which is in widespread use for conventional navigated surgery, had deep sub-millimeter error. This study demonstrates that high accuracy is achievable and offers a system developer options to trade off accuracy and user convenience in direct surgical navigation.

Comparing conventional and computer-assisted surgery baseplate and screw placement in reverse shoulder arthroplasty

BACKGROUND

Preoperative planning and intraoperative navigation technologies have each been shown separately to be beneficial for optimizing screw and baseplate positioning in reverse shoulder arthroplasty (RSA) but to date have not been combined. This study describes development of a system for performing computer-assisted RSA glenoid baseplate and screw placement, including preoperative planning, intraoperative navigation, and postoperative evaluation, and compares this system with a conventional approach.

MATERIALS AND METHODS

We used a custom-designed system allowing computed tomography (CT)-based preoperative planning, intraoperative navigation, and postoperative evaluation. Five orthopedic surgeons defined common preoperative plans on 3-dimensional CT reconstructed cadaveric shoulders. Each surgeon performed 3 computer-assisted and 3 conventional simulated procedures. The 3-dimensional CT reconstructed postoperative units were digitally matched to the preoperative model for evaluation of entry points, end points, and angulations of screws and baseplate. Values were used to find accuracy and precision of the 2 groups with respect to the defined placement. Statistical analysis was performed by t tests (α = .05).

RESULTS

Comparison of the groups revealed no difference in accuracy or precision of screws or baseplate entry points (P > .05). Accuracy and precision were improved with use of navigation for end points and angulations of 3 screws (P < .05). Accuracy of the inferior screw showed a trend of improvement with navigation (P > .05). Navigated baseplate end point precision was improved (P < .05), with a trend toward improved accuracy (P > .05).

CONCLUSION

We conclude that CT-based preoperative planning and intraoperative navigation allow improved accuracy and precision for screw placement and precision for baseplate positioning with respect to a predefined placement compared with conventional techniques in RSA.

The influence of osteophyte depiction in CT for patient-specific guided hip resurfacing procedures

PURPOSE

An accurate fit of a patient-specific instrument guide during an intervention is one of the critical factors affecting accuracy of the surgical procedure. In this study, we investigated how well osteophytes, which are abnormal bone growths that form along joints, are depicted in clinical preoperative CT scans and estimated the influence of such depiction errors on the intraoperative accuracy of the guide.

METHODS

In 34 hip resurfacing patients, 227 osteophyte surface points on the anterior aspect of the femoral neck were collected intraoperatively, using an optoelectronic navigation system. These points were registered to a preoperative CT scan of the patient, and distances between collected points and segmented virtual bone surface, as well as Hounsfield units for these points, were determined. We simulated the registration error of a patient-specific guide, using a modified registration algorithm, to test placement on the anterior aspect of the femoral neck without removing any osteophytes. This error was then applied to the surgical plan of the femoral central-pin position and orientation for evaluation.

RESULTS

The average distance between the collected points and the segmented surface was 2.6 mm. We estimated the average error for the entrance point of the central-pin to be 0.7 mm in the distal direction and 3.2 mm in the anterior direction. The average orientation error was 2.8° in anteversion.

CONCLUSIONS

The depiction of osteophytes in clinical preoperative CT scans for proximal femurs can be unreliable and can possibly result in significant intraoperative instrument alignment errors during image-guided surgeries.

Wide-angle ITER-prototype tangential infrared and visible viewing system for DIII-D

An imaging system with a wide-angle tangential view of the full poloidal cross-section of the tokamak in simultaneous infrared and visible light has been installed on DIII-D. The optical train includes three polished stainless steel mirrors in vacuum, which view the tokamak through an aperture in the first mirror, similar to the design concept proposed for ITER. A dichroic beam splitter outside the vacuum separates visible and infrared (IR) light. Spatial calibration is accomplished by warping a CAD-rendered image to align with landmarks in a data image. The IR camera provides scrape-off layer heat flux profile deposition features in diverted and inner-wall-limited plasmas, such as heat flux reduction in pumped radiative divertor shots. Demonstration of the system to date includes observation of fast-ion losses to the outer wall during neutral beam injection, and shows reduced peak wall heat loading with disruption mitigation by injection of a massive gas puff.

Overall wrist biomechanics are conserved by phenol-based embalming

Although cadaveric specimens that have been fresh-frozen then thawed are considered the gold standard for biomechanics research, because they most closely represent in vivo tissues, potential problems include a relatively short useful time-span and risk of infection. A recently reported new method of phenol-based "soft" embalming has been found to preserve tissues in a fresh-like state over an extended period of time and simultaneously reduced infection risks. This study presents radio-ulnar deviation end-range data from 4 soft-embalmed and refrigerated human cadaveric forearm specimens over 12 months. All end-range comparisons were found to be statistically equivalent to within a clinically acceptable range of ±5 degrees of radio-ulnar deviation with a 95% con. dence measure of p &lt; 0.01 in every case. These soft-embalmed specimens provide promising results for further use in biomechanical studies.

A matrix lie group approach to statistical shape analysis of bones

Statistical shape models using a principal-component analysis are inadequate for studying shapes that are in non-linear manifolds. Principal tangent components use a matrix Lie group that maps a non-linear manifold to a corresponding linear tangent space. Computations that are performed on the tangent space of the manifold use linear statistics to analyze non-linear shape spaces. The method was tested on bone surface from proximal femurs. Using only three components, the new model recovered 94% of the medical dataset, whereas a conventional method that used linear principal components needed 24 components to achieve the same reconstruction accuracy.

A laboratory comparison of computer navigation and individualized guides for distal radius osteotomy

PURPOSE

This article presents the results of a multiuser, randomized laboratory trial comparing the accuracy and precision of image-based navigation against individualized guides for distal radius osteotomy (DRO).

METHODS

Six surgeons each performed four DROs using image-based navigation and four DROs using individualized guides in a laboratory setting with plastic phantom replicas of radii from patients who had received DRO as treatment for radial deformity. Time required and correction errors of ulnar variance, radial inclination, and volar tilt were measured.

RESULTS

There were no statistically significant differences in the average correction errors. There was a statistically significant difference in the standard deviation of ulnar variance error (2.0 mm for navigation vs. 0.6 mm for guides). There was a statistically significant difference in the standard deviation of radial inclination error ([Formula: see text] for navigation vs. [Formula: see text] for guides). There were statistically significant differences in the times required (705 s for navigation vs. 214 s for guides) and their standard deviations (144 s for navigation vs. 98 s for guides).

CONCLUSIONS

Compared to navigated DRO, individualized guides were easier to use, faster, and produced more precise correction of ulnar variance and radial inclination. The combination of true three-dimensional planning, ease of use, and accurate and precise corrective guidance makes the individualized guide technique a promising approach for performing corrective osteotomy of the distal radius.

Shared morphology of slipped capital femoral epiphysis and femoroacetabular impingement in early-onset arthritis

A subclinical form of slipped capital femoral epiphysis (SCFE) can lead to subtle morphologic abnormalities, such as cam-type femoroacetabular impingement (FAI). Femoroacetabular impingement is a mechanical hip abnormality that typically affects young populations and leads to hip pain and premature osteoarthritis. Imaging is critical to diagnosis, whether by radiograph, magnetic resonance imaging, or computed tomography. The authors investigated the use of imaging to detect characteristics of subclinical SCFE and cam-type FAI in patients undergoing hip resurfacing. They retrospectively assessed computed tomography scans of 81 hips from 75 patients. Measurements were taken of the proximal femur and included the alpha angle, head-neck tilt, and anterior offset taken in both the conventional oblique axial plane and the radial plane. The cohort consisted of 68 men and 13 women with an average age of 52 years. Ninety percent of hips on the oblique axial view and 95% of hips on the radial view were found to have pathologically increased alpha angles. Negative correlations were found between the alpha angle and head-neck tilt and positive correlations between head-neck tilt and anterior offset ratio. Sixty percent and 68% of hips in the oblique axial and radial planes, respectively, were abnormal for the alpha angle, head-neck tilt, and anterior offset ratio, strongly suggesting SCFE morphology. This study's results show similarity in morphology between cam-type FAI and SCFE, known precursors to osteoarthritis, in an early arthritic patient population.

Computer-assisted percutaneous scaphoid fixation: concepts and evolution

Background The treatment for undisplaced scaphoid waist fractures has evolved from conventional cast immobilization to percutaneous screw insertion. Percutaneous fixation reduces some of the risks of open surgery, but can be technically demanding and carries the risk of radiation exposure. Recently, computer-assisted percutaneous scaphoid fixation (CAPSF) has been gaining interest. Materials and Methods Conventional percutaneous scaphoid fixation is performed under fluoroscopic guidance and involves insertion of a guide wire along the length of the scaphoid to facilitate placement of a cannulated screw. Adapting computer-assisted techniques for scaphoid fixation poses several unique challenges including patient tracking and registration. Results To date, five groups have successfully implemented systems for CAPSF. These systems have implemented wrist immobilization strategies to resolve the issue of patient tracking and have developed unique guidance techniques incorporating 2D fluoroscope, cone-beam CT, and ultrasound, to circumvent patient-based registration. Conclusions Computer-aided percutaneous pinning of scaphoid waist fractures can significantly reduce radiation exposure and has the potential to improve the accuracy of this procedure. This article reviews the rationale for, and the evolution of, CAPSF and describes the key principles of computer-assisted technology.

Computation and visualization of uncertainty in surgical navigation

BACKGROUND

Surgical displays do not show uncertainty information with respect to the position and orientation of instruments. Data is presented as though it were perfect; surgeons unaware of this uncertainty could make critical navigational mistakes.

METHODS

The propagation of uncertainty to the tip of a surgical instrument is described and a novel uncertainty visualization method is proposed. An extensive study with surgeons has examined the effect of uncertainty visualization on surgical performance with pedicle screw insertion, a procedure highly sensitive to uncertain data.

RESULTS

It is shown that surgical performance (time to insert screw, degree of breach of pedicle, and rotation error) is not impeded by the additional cognitive burden imposed by uncertainty visualization.

CONCLUSIONS

Uncertainty can be computed in real time and visualized without adversely affecting surgical performance, and the best method of uncertainty visualization may depend upon the type of navigation display.

Image-guided distal radius osteotomy using patient-specific instrument guides

In this article, we describe a method for computer-assisted distal radius osteotomies in which computer-generated, patient-specific plastic guides are used for intraoperative guidance. Before surgery, the correction and plate location are planned using computed tomography scans for both radii and ulnae, and the planned locations of the distal and proximal drill holes for the plate are saved. A plastic, patient-specific instrument guide is created using a rapid prototyping machine into which a mirror image of intraoperative, accessible bone structure of the distal radius is integrated. This allows for unique positioning of the guide during surgery. For each planned drill location, a guidance hole is incorporated into the guide. During surgery, a conventional incision is made, and the guide is positioned on the radius. The surgeon drills the holes for the plate screws into the intact radius and performs the osteotomy using the conventional technique. Using the predrilled holes, the surgeon affixes the plate to the radius fragments. The guides are easy to integrate into the surgical workflow and minimize the need for intraoperative fluoroscopy for guidance of the procedure.

Volume rendering of three-dimensional fluoroscopic images for percutaneous scaphoid fixation: an in vitro study

Percutaneous fixation of scaphoid fractures offers potential advantages to cast treatment but can be difficult to perform with conventional two-dimensional imaging. This study aimed to evaluate the use of a novel navigation technique using volume-rendered images derived from intraoperative cone-beam computed tomography imaging, without the need for typical patient-based registration. Randomized in vitro trials in which a guidewire was inserted into a scaphoid model were conducted to compare volumetric navigation to conventional fluoroscopic C-arm (n = 24). Central wire placement, surface breach, procedure time, drilling attempts, and radiation exposure were compared between groups. Compared to conventional percutaneous insertion, navigation achieved equal or significantly better placement of the guidewire with fewer drilling attempts and less radiation exposure. On average, navigation took 74 s longer to perform than the conventional method, which was statistically significant but clinically irrelevant. This evaluation suggests that the technology is promising and may have many clinical benefits including improved fixation placement, fewer complications, and less radiation exposure. The intraoperative workflow is more efficient and eliminates the need for preoperative computed tomography, image segmentation, and patient-based registration typical of traditional navigated procedures.

Using additive manufacturing in accuracy evaluation of reconstructions from computed tomography

Bone models derived from patient imaging and fabricated using additive manufacturing technology have many potential uses including surgical planning, training, and research. This study evaluated the accuracy of bone surface reconstruction of two diarthrodial joints, the hip and shoulder, from computed tomography. Image segmentation of the tomographic series was used to develop a three-dimensional virtual model, which was fabricated using fused deposition modelling. Laser scanning was used to compare cadaver bones, printed models, and intermediate segmentations. The overall bone reconstruction process had a reproducibility of 0.3 ± 0.4 mm. Production of the model had an accuracy of 0.1 ± 0.1 mm, while the segmentation had an accuracy of 0.3 ± 0.4 mm, indicating that segmentation accuracy was the key factor in reconstruction. Generally, the shape of the articular surfaces was reproduced accurately, with poorer accuracy near the periphery of the articular surfaces, particularly in regions with periosteum covering and where osteophytes were apparent.

The aspherical human hip: implication for early osteoarthritis

One marker for early-onset hip arthritis is femoral acetabular impingement. The current standard way of quantifying impingement is manual calculation of anatomical measures on plain radiographs, including the α-angle. Such measurements are user-dependent and prone to error. We provided a robust computational alternative and proposed using numerical fitting of geometrical shapes. We applied least-squares fitting of an ellipse to the femoral head contour and used the difference between the ellipse axes as a quantification method. The results showed a good correlation between the new measure and previous definitions of the α-angle.

Analyzing shoulder translation with navigation technology

PURPOSE

Asymmetric stress imposed on the shoulder can lead to anterior shoulder instability in young athletes who perform repetitive overhead motions. A common treatment, surgical anterior capsule tightening, assumes that the instability is caused by abnormal anterior laxity. This study investigated the possibility that one element of overall imbalance, posterior capsular tightness, could be an underlying reason for shoulder instability. Surgical navigation technology, which is more accurate than whole-body motion-capture systems, was used to study anterior translational motions.

METHOD

The study was used four cadaver shoulders, with the scapula and rotator cuff muscles intact. Opto-electronic surgical navigation localization devices were mounted on the scapula and humerus to accurately capture positions and orientations. The shoulders were passively moved through 7 motions, 5 of simple angulation and 2 combinations of clinical interest. Each motion was repeated in 4 different soft-tissue states: rotator cuff intact, capsule intact, and surgically induced capsular tightnesses of 5 and 10mm.

RESULTS

The shoulders had significantly greater anterior translation when the posterior capsule was artificially tightened (p < 0.05); this was particularly in movements that combined abduction with internal or external rotation, which are typical overhead sports motions. Overall translation was indifferent to whether the shoulders were intact or dissected down to the capsule, as was translation during flexion was indifferent to dissection state (p > 0.95).

CONCLUSION

Surgical navigation technology can easily be used to analyze cadaveric shoulder motion, with opportunities for adaptation to anesthetized patients. Results suggest that the inverse of artificial tightening, such as surgical release of the posterior capsule, may be an effective minimally invasive treatment of chronic shoulder dislocation subsequent to sports motions.

Improvement of freehand ultrasound calibration accuracy using the elevation beamwidth profile

This article presents a novel approach that incorporates an ultrasound slice-thickness profile into a filtered, weighted-least-square framework to improve the reconstruction accuracy of a real-time freehand calibration system. An important part of the system is a slice-thickness calibration device that aids in the extraction of the slice thickness across a wide range of imaging depths. Extensive experiments were conducted on a 10,000-image dataset to evaluate the effects of the framework on the calibration accuracy. The results showed that three-dimensional (3-D) reconstruction errors were significantly reduced in every experiment (p < 0.001). Real-time testing showed that the proposed method worked effectively with a small number of input images, suggesting great potential for intraoperative use where only a limited number of data may be available. This new framework can enable efficient quality control of calibration accuracy in real-time operating-room use.

Articular surface remodeling of the hip after periacetabular osteotomy

PURPOSE

Periacetabular osteotomies are a family of surgical procedures used to treat hip dysplasia. In a periacetabular osteotomy, the operating surgeon aims to increase acetabular coverage of the femoral head. The surgical correction has mechanical goals of increasing the stability of the joint and to improving the pressure distribution across the acetabulum. Although it is known that bone will remodel under changing load at the microstructural level, it is unclear whether there is any gross remodeling of the acetabulum or the femoral head in response to the change in loading following a periacetabular osteotomy. This observational study aims to quantify the shape of operative and contralateral hip joint surfaces pre and postoperatively to determine whether there are gross morphological changes in the shape of any of the bony articular surfaces of the joint.

METHODS

Preoperative and postoperative computed tomography (CT) scans were segmented as triangulated meshes. The bony articular surfaces of these meshes were then isolated. The vertices of these surfaces were fit to spheres and to general ellipsoids and, in the case of the acetabulum, examined in anatomical coordinate frames to look for changes between pre and postoperative segmentations.

RESULTS

Spherical fit results were consistent preoperatively and postoperatively, with small changes in the radii of the spheres of best fit for both operative and nonoperative hips. Ellipsoid fitting showed variations between preoperative and postoperative scans in both eccentricity and orientation.

CONCLUSIONS

Because there is no clear evidence of gross articular surface remodeling, periacetabular osteotomy for an adult should be planned with the expectation that the patient's existing articular structure will be preserved.

Registration stability of physical templates in hip surgery

We tested the registration stability of individualized templates in a consecutive study with 80 patients undergoing hip-resurfacing surgery. These templates physically encode registration and navigation parameters but do not require a computer during the actual surgery. The surgical target was the placement of the femoral guidance pin during hip resurfacing, which is a difficult and highly variable task using conventional instruments. The drill trajectory for the guidance pin of the femoral component was planned on a 3D computer model of the femur derived from a preoperative computed tomography (CT) scan. A surface-matched drilling template was designed to perform mechanical registration on the bone surface and had a hole for the drill guide; the template was created using a rapid prototyping machine. Intraoperatively, the individualized template was positioned on the patient anatomy and the pin was drilled into the femoral neck. The final achieved pin orientation and position were measured using an optoelectronic CT-based navigation system. The measured mean deviation between planned and actual central pin alignment of 0.05° in valgus and 2.8° in anteversion shows that the proposed individualized templates for hip resurfacing have reliable registration.

Computed tomography as ground truth for stereo vision measurements of skin

Although dysesthesia is a common surgical complication, there is no accepted method for quantitatively tracking its progression. To address this, two types of computer vision technologies were tested in a total of four configurations. Surface regions on plastic models of limbs were delineated with colored tape, imaged, and compared with computed tomography scans. The most accurate system used visually projected texture captured by a binocular stereo camera, capable of measuring areas to within 3.4% of the ground-truth areas. This simple, inexpensive technology shows promise for postoperative monitoring of dysesthesia surrounding surgical scars.

On the use of laser scans to validate reverse engineering of bony anatomy

There is a growing body of evidence to suggest the arthritic hip is an irregularly-shaped, aspherical joint, especially in severely pathological cases. Current methods used to study the shape and motion of the hip in-vivo, are invasive and impractical. This study aimed to assess whether a plastic model of the hip joint can be accurately made from a pelvic CT scan. A cadaver hemi-pelvis was CT imaged and segmented from which a 3D plastic model of the proximal femur and hemi-pelvis were fabricated using rapid-prototyping. Both the plastic model and the cadaver were then imaged using a high-resolution laser scanner. A three-way shape analysis was performed to compare the goodness-of-fit between the cadaver, image segmentation, and the plastic model. Overall, we obtained sub-millimeter fit accuracy between all three hip representations. Shape fit was least favorable in areas where the boundary between cartilage and bone is difficult to distinguish. We submit that rapid-prototyping is an accurate and efficient mechanism for obtaining 3D specimens as a means to further study the irregular geometry of the hip.

Computer-assisted hip resurfacing using individualized drill templates

The goal of this study was to investigate whether individualized templates can provide an accurate and reliable computer-assisted system for femoral component placement during hip resurfacing. A consecutive series of 45 patients were examined. Using a 3-dimensional computer model of the femur, the drill trajectory for the central pin of the stem was planned. A surface-matched plastic drilling template was created using a rapid prototyping machine. This patient-specific drill guide was intraoperatively positioned on the patient anatomy, the central pin was drilled into the femoral neck, and the accuracy of the placement with respect to the planned central pin alignment was measured. With mean deviation between planned and actual central pin alignment of 1.14 degrees in varus and 4.49 degrees in retroversion, individualized templates were as accurate as conventional computer-assisted hip resurfacing.

Estimation of optimal fiducial target registration error in the presence of heteroscedastic noise

We study the effect of point dependent (heteroscedastic) and identically distributed anisotropic fiducial localization noise on fiducial target registration error (TRE). We derive an analytic expression, based on the concept of mechanism spatial stiffness, for predicting TRE. The accuracy of the predicted TRE is compared to simulated values where the optimal registration transformation is computed using the heteroscedastic errors in variables algorithm. The predicted values are shown to be contained by the 95% confidence intervals of the root mean square TRE obtained from the simulations.

A tactile enhancement instrument for minimally invasive surgery

OBJECTIVE

During minimally invasive arthroscopy, surgeons use probes as diagnostic tools to detect tissue anomalies. Improving tactile sensitivity during this activity would be valuable.

MATERIALS AND METHODS

We developed an enhanced probe that could enhance the tactile sensations experienced while probing objects. It operated by detecting the acceleration signal resulting from the interaction of the tool tip with surfaces and by magnifying it for tactile and auditory reproduction. The instrument consisted of an accelerometer and an actuator arranged such that the sensing direction was orthogonal to the actuating direction so as to decouple input from output. Using the instrument, subjects were asked to detect cuts under four conditions: with no amplification, with enhanced tactile feedback, with sound feedback, and with passive touch.

RESULTS

We found that for tactile reproduction, the current prototype could amplify the signals by 10 dB on average. Results from statistical methods showed significant improvements in performance in the case of tactile and auditory feedbacks.

CONCLUSION

We developed a surgical probe with tactile and auditory feedbacks. Despite the moderate system gain achievable with the initial prototype, the system could measurably improve users' ability to detect small cuts in cartilage-like elastic surfaces.

Cartilage collagen matrix reorientation and displacement in response to surface loading

An investigation of collagen fiber reorientation, as well as fluid and matrix movement of equine articular cartilage and subchondral bone under compressive mechanical loads, was undertaken using small angle X-ray scattering measurements and optical microscopy. Small angle X-ray scattering measurements were made on healthy and diseased samples of equine articular cartilage and subchondral bone mounted in a mechanical testing apparatus on station ID18F of ESRF, Grenoble, together with fiber orientation analysis using polarized light and displacement measurements of the cartilage matrix and fluid using tracers. At surface pressures of up to approximately 1.5 MPa, there was reversible compression of the tangential surface fibers and immediately subjacent zone. As load increased, deformation in these zones reached a maximum and then reorientation propagated to the radial deep zone. Between surface pressures of 4.8 MPa and 6.0 MPa, fiber orientation above the tide mark rotated 10 deg from the radial direction, with an overall loss of alignment. With further increase in load, the fibers "crimped" as shown by the appearance of subsidiary peaks approximately +/-10 deg either side of the principal fiber orientation direction. Failure at higher loads was characterized by a radial split in the deep cartilage, which propagated along the tide mark while the surface zone remained intact. In lesions, the fiber organization was disrupted and the initial response to load was consistent with early rupture of fibers, but the matrix relaxed to an organization very similar to that of the unloaded tissue. Tracer measurements revealed anisotropic solid and fluid displacement, which depended strongly on depth within the tissue.

A Cadaverically Evaluated Dynamic FEM Model of Closed-Chain TKR Mechanics

Knowledge of the behavior and mechanics of a total knee replacement (TKR) in an in vivo environment is key to optimizing the functional outcomes of the implant procedure. Computational modeling has shown to be an important tool for investigating biomechanical variables that are difficult to address experimentally. To assist in examining TKR mechanics, a dynamic finite-element model of a TKR is presented. The objective of the study was to develop and evaluate a model that could simulate full knee motion using a physiologically consistent quadriceps action, without prescribed joint kinematics. The model included tibiofemoral (TFJs) and patellofemoral joints (PFJs), six major ligament bundles and was driven by a uni-axial representation of a quadricep muscle. An initial parameter screening analysis was performed to assess the relative importance of 31 different model parameters. This analysis showed that ligament insertion location and initial ligament strain were significant factors affecting simulated joint kinematics and loading, with the contact friction coefficient playing a lesser role and ligament stiffness having little effect. The model was then used to simulate in vitro experiments utilizing a flexed-knee-stance testing rig. General model performance was assessed by comparing simulation results with experimentally measured kinematics and tibial reaction forces collected from two implanted specimens. The simulations were able to reproduce experimental differences observed between the test specimens and were able to accurately predict trends seen in the tibial reaction loads. The simulated kinematics of the TFJ and PFJ were less consistent when compared with experimental data but still reproduced many trends.

A real-time freehand ultrasound calibration system with automatic accuracy feedback and control

This article describes a fully automatic, real-time, freehand ultrasound calibration system. The system was designed to be simple and sterilizable, intended for operating-room usage. The calibration system employed an automatic-error-retrieval and accuracy-control mechanism based on a set of ground-truth data. Extensive validations were conducted on a data set of 10,000 images in 50 independent calibration trials to thoroughly investigate the accuracy, robustness, and performance of the calibration system. On average, the calibration accuracy (measured in three-dimensional reconstruction error against a known ground truth) of all 50 trials was 0.66 mm. In addition, the calibration errors converged to submillimeter in 98% of all trials within 12.5 s on average. Overall, the calibration system was able to consistently, efficiently and robustly achieve high calibration accuracy with real-time performance.

Dynamic simulation of a displacement-controlled total knee replacement wear tester

This paper presents a dynamic finite element method (FEM) model of a commercial displacement-controlled total knee replacement (TKR) wear tester. The first goal of the study was to validate the model, which included both the wear tester and the TKR components. Convergence simulations and experimental testing were performed. These included a novel experimental determination of the coefficient of friction and an evaluation of predicted joint contact areas by comparing simulation results with experimental data collected using pressure-sensitive film. The second goal of this study was to develop a procedure for implementing force-based testing protocols on a displacement-controlled TKR wear tester. A standard force-based cyclic wear-testing protocol was simulated using the FEM model and resulting displacement waveforms were extracted. These were used as control inputs to the physical wear tester and an experimental wear test was performed. Reaction loads on the tibial components were measured and compared with the simulated results. The model was capable of accurately predicting the tibial loads throughout the test cycle, verifying the model's contact mechanics. The study demonstrated the use of computational modelling to convert a force-based testing protocol into displacement-based control parameters for use in a displacement-controlled mechanical testing system.

A navigation system for shoulder arthroscopic surgery

The general framework and experimental validation of a novel navigation system designed for shoulder arthroscopy are presented. The system was designed to improve the surgeon's perception of the three-dimensional space within the human shoulder. Prior to surgery, a surface model of the shoulder was created from computed tomography images. Intraoperatively optically tracked arthroscopic instruments were calibrated. The surface model was then registered to the patient using tracked freehand ultrasound images taken from predefined landmark regions on the scapula. Three-dimensional models of the surgical instruments were displayed, in real time, relative to the surface model in a user interface. Laboratory experiments revealed only small registration and calibration errors, with minimal time needed to complete the intraoperative tasks.

Validation of a new surgical procedure for percutaneous scaphoid fixation using intra-operative ultrasound

A new technique for percutaneous fixation of non-displaced scaphoid fractures is described. The technique used pre-operative planning from computed tomography images, registration to intra-operatively acquired three-dimensional ultrasound images, and intra-operative guidance using an optical tracking system. Two stand-alone software applications were developed. The first one was used to determine the surgical plan pre-operatively and the second one was used to guide the surgeon during screw insertion. Laboratory validation of the technique included measurements of the inter-operator and intra-operator variability in the outcome of scaphoid fixation using the proposed procedure, and also included comparison of the performance of this procedure with the conventional percutaneous fixation technique using fluoroscopy. The results showed that the tight accuracy requirements of percutaneous scaphoid fixation were met and that the consistency was superior to the conventional technique.

Two-dimensional order in mammalian pre-ocular tear film

We report a grazing incidence x-ray diffraction (GIXD) investigation of the surface lipid layer of the pre-ocular tear film. For the first time we demonstrate the existence of 2D order over a wide range of surface pressures in this system, with typical spicing of 3.75A and 4.16A independent of the monolayer surface pressure. Analogous lipid ordering is also found in an artificial lipid mixture of the major lipid components of the tear film, suggesting that the 2D ordering is set by generic lipid-lipid interactions. Fluorescence microscopy of the natural and artificial tear film mixture reveals the co-existence of a dilute and a much more condensed phase in the amphiphilic lipid matrix over the pressure range of 15-45mN/m investigated by GIXD, plus an additional structure due to the much more hydrophobic part of the mixture. This evidence supports the previous hypothesis that tear film has a layered structure.

Regional variations of collagen orientation in normal and diseased articular cartilage and subchondral bone determined using small angle X-ray scattering (SAXS)

OBJECTIVE

To determine regional differences in the orientation of collagen in the articular cartilage of the equine metacarpophalangeal joint as well as describing cartilage orientation in lesions using small angle X-ray scattering (SAXS).

DESIGN

SAXS diffraction patterns were taken at the European Synchrotron Radiation Facility (ESRF), with increasing depth into cartilage and bone cross sections. Results for healthy samples were taken at different regions along the joint which receive different loads and differences in collagen orientation were determined. Results were also taken from diseased samples and the collagen orientation changes from that of healthy samples observed.

RESULTS

Regions subject to low loads show a lower degree of orientation and regions exposed to the highest loads possess oriented collagen fibres especially in the radial layer. In early lesions the orientations of the collagen fibres are disrupted. Subchondral bone fibres are twisted in regions where the joint receives shear forces. Changes in fibre orientation are also observed in the calcified cartilage even in regions where the cartilage is intact. In more advanced lesions where there is loss of cartilage the fibres in the calcified layer are realigned tangential to the surface.

CONCLUSIONS

Regional variations in collagen arrangement show that the highly ordered layers of the articular cartilage are the most important elements in supporting high variable loads. In lesions changes occur in the deep tissue whilst the overlying cartilage appeared normal. We therefore suggest that the interface region is a key element in the early stages of the disease.

EUS with CT improves efficiency and structure identification over conventional EUS

BACKGROUND

EUS is complicated because of the subtleties of US interpretation, small fields of observation, and uncertainty of probe position and orientation.

OBJECTIVE

Improved EUS performance is sought by providing contextual information to support US probe positioning and identification of features in US images. Our aims were to demonstrate the feasibility of the image registered gastroscopic US (IRGUS) system in a porcine model and to compare the effectiveness and the efficiency of IRGUS with traditional EUS.

DESIGN

Animal feasibility study.

INTERVENTIONS

The IRGUS system uses preprocedure CT and miniature US probe trackers to create real-time synthetic displays of the position of the probe tip and a matched slice of CT data for comparison with the US image. Participants used EUS and IRGUS systems in a porcine model to evaluate the speed and accuracy of structure identification.

MAIN OUTCOME MEASUREMENTS

The performance and utility of IRGUS were determined by the number of correctly identified structures in a timed trial, kinematic variables, and a structured survey.

RESULTS

IRGUS was twice as effective as EUS in localizing and identifying individual structures. In timed trials, IRGUS users identified over 25% more structures than EUS users. Improvement in examination efficiency and accuracy of feature identification was statistically significant, and 90% of the users preferred IRGUS to EUS for these tasks.

CONCLUSIONS

IRGUS appears feasible and may be superior to conventional EUS in efficiency and accuracy of probe positioning and in image interpretation. IRGUS has the potential to shorten the EUS learning curve and to broaden the adoption of EUS techniques by gastroenterologists.

Automated 3D freehand ultrasound calibration with real-time accuracy control

3D ultrasound (US) is an emerging new imaging technology that appeals to more and more applications in intraoperative guidance of computer-assisted surgery. In a freehand US imaging system, US probe calibration is typically required to construct a 3D image of the patient's anatomy from a set of 2D US images. Most of the current calibration techniques concern primarily with the precision and accuracy. However, for computer-assisted surgeries that may require a calibration task inside the operating room (OR), many other important aspects have to be considered besides accuracy. In this paper, we propose a novel system for automated calibration that is optimized for the OR usage with real-time feedback and control of the calibration accuracy. We have also designed a novel N-wire phantom, with greatly reduced complexity to facilitate mass production without compromising the accuracy and robustness.

Towards scarless surgery: an endoscopic-ultrasound navigation system for transgastric access procedures

Scarless surgery is a new and very promising technique that can mark a new era in surgical procedures. We have created and validated a navigation system for endoscopic and transgastric access interventions in in vivo pilot studies. The system provides augmented visual feedback and additional contextual information by establishing a correspondence between the real time endoscopic ultrasound image and a preoperative CT volume using rigid registration. The system enhances the operator's ability to interpret the ultrasound image reducing the mental burden used in probe placement. Our analysis shows that rigid registration is accurate enough to help physicians in endoscopic abdominal surgery where, by using preoperative data for context and real-time imaging for targeting, distortions that limit the use of only preoperative data can be overcome.

Using registration uncertainty visualization in a user study of a simple surgical task

We present a novel method to visualize registration uncertainty and a simple study to motivate the use of uncertainty visualization in computer-assisted surgery. Our visualization method resulted in a statistically significant reduction in the number of attempts required to localize a target, and a statistically significant reduction in the number of targets that our subjects failed to localize. Most notably, our work addresses the existence of uncertainty in guidance and offers a first step towards helping surgeons make informed decisions in the presence of imperfect data.

Computer-assisted localization of osteoid osteoma: an initial experience

This article evaluates our initial experience with computer-assisted localization of osteoid osteoma. Nine patients with osteoid osteoma underwent minimally invasive computer-assisted surgery. Patients were followed prospectively for symptomatic relief and complications for an average of 31 months. Successful localization of osteoid osteoma occurred in 7 of 9 patients. Mean operative time was 88 minutes, and mean time to discharge was 1 day (range: same day to 2 days). No fractures, infections, or neurovascular complications occurred. Minimally invasive computer-assisted surgical excision of osteoid osteoma is a safe and feasible option for the surgical localization of osteoid osteoma. It is especially attractive for lesions located in poorly accessible anatomic sites.

On fiducial target registration error in the presence of anisotropic noise

We study the effect of anisotropic noise on target registration error (TRE) by using a tracked and calibrated stylus tip as the fiducial registration application. We present a simple, efficient unscented Kalman filter algorithm that is suitable for fiducial registration even with a small number of fiducials. We also derive an equation that predicts TRE under anisotropic noise. The predicted TRE values are shown to closely match the simulated TRE values achieved using our UKF-based algorithm.

Proof of concept of a simple computer-assisted technique for correcting bone deformities

We propose a computer-assisted technique for correcting bone deformities using the Ilizarov method. Our technique is an improvement over prior art in that it does not require a tracking system, navigation hardware and software, or intraoperative registration. Instead, we rely on a postoperative CT scan to obtain all of the information necessary to plan the correction and compute a correction schedule for the patient. Our laboratory experiments using plastic phantoms produced deformity corrections accurate to within 3.0 degrees of rotation and 1 mm of lengthening.