Robotic and navigated TKA procedures have been introduced to improve component placement precision for the purpose of improving implant survivorship and other clinical outcomes. Although numerous studies have shown enhanced precision in placing components, adoption of technology-assistance (TA) for TKA has been relatively slow. One reason for this has been the difficulty in demonstrating the cost-effectiveness of implementing TA-TKA systems and assessing their impact on revision rates.

In this study, we aimed to use a simulation approach to answer the following questions: (1) Can we determine the distribution of likely reductions in TKA revision rates attributable to TA-TKA in an average US patient population? And, (2) What reduction in TKA revision rates are required to achieve economic neutrality?

In a previous study, we developed a method for creating large sets of simulated TKA patient populations with distributions of patient-specific factors (age at index surgery, sex, BMI) and one surgeon-controlled factor (coronal alignment) drawn from registry data and published literature. Effect sizes of each factor on implant survival was modeled using large clinical studies. For 10,000 simulated TKA patients, we simulated 20,000 TKA surgeries, evenly split between groups representing coronal alignment precisions reported for manual (±3°) and TA-TKA (±1.0°), calculating the patient-specific survival curve for each group. Extending our previous study, we incorporated the probability of each patient's expected survival into our model using publicly available actuarial data. This allowed us to calculate a patient-specific estimate of the Reduction in Lifetime Risk of Revision (RLRR) for each simulated patient. Our analysis showed that 90% of patients will achieve an RLRRof 1.5% or less in an average US TKA population.

We then conducted a simplified economic analysis with the goal of determining the net cost of using TA-TKA per case when factoring in future savings by TKA revision rates. We assumed an average cost of revision surgery to be $75,000 as reported by Delanois (2017) and an average added cost incurred by TA-TKA to be $6,000 per case as reported by Antonis (2019). We estimate the net cost per TA-TKA case (C_Net) to be the added cost per TA-TKA intervention (C_Int), less the cost of revision surgery (C_Rev) multiplied by the estimated RLRR: C_Net = C_Int - C_Rev∗RLRR. We find that, under these assumptions, use of TA-TKA increases expected costs for all patients with an RLRR of under 8%.

Based on these results, it appears that it would not be cost-effective to use TA-TKA on more than a small fraction of the typical US TKA patient population if the goal is to reduce overall costs through reducing revision risks. However, we note that this simulation does not consider other possible reported benefits of TA-TKA surgery, such as improved functional and pain outcome scores which may justify its use on other grounds. Alternative costs incurred by TA-TKA will be evaluated in a future study. To reach economic neutrality, TA-TKA systems either must reduce the added cost per intervention or increase RLRR by better addressing the root causes of revision.

Introduction

Innovations in surgical robotics and navigation have significantly improved implant placement accuracy in total knee arthroplasty (TKA). However, many comparative studies have not been shown to substantially improve revision rates or other clinical outcome scores. We conducted a simulation study based on the reported distribution of patient-specific characteristics and estimated potential effect of coronal plane alignment (CPA) on risk of revision to evaluate the hypothesis that most published study designs in this area have been too underpowered to detect improvements in revision rates.

Fluoroscopic C-arms are operated by medical radiography technologists (RTs) in Canadian operating rooms (ORs). While they do receive formal, accredited training, most of it is theoretical, rather than hands-on. During their first encounters in the OR, new RTs can experience difficulty achieving the radiographic views required by surgeons, often needing several scout X-rays during C-arm positioning. Furthermore, ambiguous language by surgeons often inadequately conveys their request. The result is often frustration, unnecessary radiation exposure, and added OR time. The purpose of this study was to evaluate the value of artificial X-rays in improving C-arm positioning performance, with inexperienced C-arm users.

We developed an Artificial X-ray Imaging System (AXIS) that generates Digitally Reconstructed Radiographs (DRRs), or artificial X-ray images, based on the relative position of a C-arm and manikin. 30 participants were enrolled in the user study and performed four activities: an introduction session, an AXIS-guided evaluation, a non-AXIS-guided evaluation, and a questionnaire. The main goal of the study was to assess C-arm positioning performance with and without AXIS guidance. For each evaluation, the participants had to replicate a set of target X-ray images by taking real radiographs of the manikin with the C-arm. During the AXIS evaluation, artificial X-rays were generated at 2 Hz for guidance, while in the non-AXIS evaluation, the participants had to acquire real scout X-rays to guide them toward the correct view.

For each imaging task the number of real X-rays and time required per task was recorded, and the C-arm's pose was tracked and compared to the target pose to determine positioning accuracy; these were averaged for each participant and condition. Hypothesis testing on the means and paired t-tests were carried out using a significance level of α=0.05.

On average, users took significantly fewer real scout X-ray images (53% fewer (2.8 vs 6.0), p<0.001) when guided by AXIS. Lateral distance accuracy was improved by 10% for final C- arm positions and by 26% for the most accurate intermediate C-arm positions when guided by AXIS (p<0.05). There was no significant difference in average task time or angular accuracies between the AXIS and non-AXIS evaluations. Overall, we are encouraged by these findings and plan to further develop this system with the goal of deploying it both for training and intraoperative uses.

Pedicle screw fixation is a technically demanding procedure with potential difficulties and reoperation rates are currently on the order of 11%. The most common intraoperative practice for position assessment of pedicle screws is biplanar fluoroscopic imaging that is limited to two- dimensions and is associated to low accuracies. We have previously introduced a full-dimensional position assessment framework based on registering intraoperative X-rays to preoperative volumetric images with sufficient accuracies. However, the framework requires a semi-manual process of pedicle screw segmentation and the intraoperative X-rays have to be taken from defined positions in space in order to avoid pedicle screws' head occlusion. This motivated us to develop advancements to the system to achieve higher levels of automation in the hope of higher clinical feasibility.

In this study, we developed an automatic segmentation and X-ray adequacy assessment protocol. An artificial neural network was trained on a dataset that included a number of digitally reconstructed radiographs representing pedicle screw projections from different points of view. This model was able to segment the projection of any pedicle screw given an X-ray as its input with accuracy of 93% of the pixels. Once the pedicle screw was segmented, a number of descriptive geometric features were extracted from the isolated blob. These segmented images were manually labels as ‘adequate’ or ‘not adequate’ depending on the visibility of the screw axis. The extracted features along with their corresponding labels were used to train a decision tree model that could classify each X-ray based on its adequacy with accuracies on the order of 95%.

In conclusion, we presented here a robust, fast and automated pedicle screw segmentation process, combined with an accurate and automatic algorithm for classifying views of pedicle screws as adequate or not. These tools represent a useful step towards full automation of our pedicle screw positioning assessment system.

Accurate comparison of outcomes regarding various surgical options in knee arthroplasty calls for an improved method of joint line analysis that takes into account the preoperative cartilage thickness. Current methods for measuring joint lines have limitations. This is commonly done on anteroposterior or lateral radiographs, by measuring landmarks defining the joint line with reference to a common landmark such as the fibular head, the medial femoral epicondyle or the tibial tuberosity. These radiographic methods are unable to measure important differences between the medial and lateral joint lines. Furthermore, poor accuracies due to sensitivity to patient and X-ray beam positions have been reported for these methods. The aim of this study was to introduce a method to measure the joint line shift for any desired flexion angle of the joint by taking into account the cartilage thickness on both the medial and lateral sides and under weightbearing conditions.

The suggested method inludes four steps (Figure 1): a) preoperative joint imaging and 3D-2D matching between pre-operative 3D models and bi-planar 2D images; b) postoperative joint imaging and 3D-2D matching between implant 3D models and 3D models of the bones to bi-planar 2D images; c) superimposition of the locations of the implant components on the preoperative joint positions to determine changes in the joint line on the medial and lateral sides of the joint for both extension and flexion positions.

To determine the tibial joint line, the three-dimensional model of the polyethylene inlay was added to the metal tray according to the design of its locking mechanism. Two-dimensional cross-sectional slices of the combined bone and implant models were obtained perpendicular to the tibial tray and passed through the most distal points of the medial and lateral condyles of the femoral component. Joint line shift was measured as the distance between the most distal point on the condyle of the femoral component and the most proximal point on the articular surface of the tibial polyethylene in the direction normal to the mediolateral edge of the tibial tray in the cross-sectional slice.

The method was tested on six cadaveric specimens. The joint line shift, measured using the new method, was in the range of −0.2 to 1.3 mm on average (SD=1.3 to 3.8 mm for medial and lateral, flexion and extension). This was significantly different (p≤0.01) from the results of a previously post-op based registration method which did not account for the cartilage thickness. These results demonstrate the importance of the preoperative joint space when analyzing the joint line, and highlight the utility of the newly introduced method. The method introduced in this study combines the preoperative and postoperative images to provide accurate 3D measures of joint line shifts. The method incorporates cartilage thickness in the analysis and is insensitive to patient and X-ray beam position, and can be applied at any flexion angle of the knee. The method yields much smaller measures of joint line shift than a previous approach, which suggests that the previous method may have overestimated joint line shift substantially.

Component placement and the individual's functional posture play key roles in mechanical complications and hip dysfunction after total hip arthroplasty (THA). The challenge is how to measure these. X-rays lack accuracy and CT scans increase radiation dose. A newer imaging modality, EOSTM, acquires low-dose, simultaneous, perpendicular anteroposterior and lateral views while providing a global view of the patient in a functional standing or sitting position, leading to a 3D reconstruction for parameter calculation. The purpose of the present study was to develop an approach using the EOS system to compare patients with good versus poor results after THA and to report our preliminary experiences using this technique.

A total of 35 patients were studied: 17 with good results after THA (G-THA), 18 with poor results (P-THA). The patients were operated on or referred for follow-up to a single expert surgeon, between 2001 and 2011, with a minimum follow-up of at least two years.

Acetabular cup orientation differed significantly between groups. Acetabular version relative to the coronal plane was lower in P-THA (32°±12°) compared to G-THA (40°±9°) (p=0.02). There was a strong trend towards acetabular cup inclination relative to the APP being higher in P-THA (45°±9°, compared to 39°±7°; p=0.07). Proportions of P-THA vs. G-THA patients with cup orientation values higher or lower than 1 SD from the overall mean differed significantly and substantially between groups. All revision cases had a least four values outside 1 SD, including acetabular cup orientation, sagittal pelvic tilt, sacral slope, femoral offset and neck-shaft angle.

This is the first study to our knowledge to provide acetabular, pelvic and femoral parameters for these two groups and the first to provide evidence that a collection of high/low parameters may together contribute to a poor result. The results show the importance of acetabular component placement, in both inclination and version and the importance of looking at individuals, not just groups, to identify potential causes for pain and functional issues. With the EOS system, a large cohort of individuals can be studied in the functional position relatively quickly and at low dose. This could lead to patient-specific guidelines for THA planning and execution.

Important factors affecting quality of life (QOL) after total knee arthroplasty (TKA) include postoperative knee kinematics and geometry, influenced by implant design and placement (Matsuda 2001; Nishikawa 2013; Noble 2005). Although specific design factors and their effect on kinematics or QOL have been investigated previously, the inter-relationships between preop-postop changes in kinematics, geometry and the resulting QOL have not been studied to our knowledge. These are essential to understand the interplay between the different factors, and to determine which factors manufacturers and surgeons should focus on when designing and implanting knee prostheses. In addition, the majority of TKA studies focus on the tibiofemoral (TF) joint, although the patellofemoral (PF) joint is routinely the source of postop complications; the PF joint is difficult to study due to polyethylene radio-transparency and because the femoral component obscures the patella from most directions.

The purpose of this pilot study was to correlate changes in knee articular shape, over which the implant designers and surgeons have some control, to changes in kinematics and postop QOL, with a particular focus on the PF joint, to answer the following research questions for a sample population with a given implant design and surgeon: (1) Do changes in knee shape affect knee kinematics? In particular, is patellar tracking affected by groove location? (2) Do changes in knee kinematics affect QOL? (3) Do changes in knee shape (resulting from implant design and placement) affect QOL? (4) Do individuals with worse QOL differ from those with better QOL?

Introduction

The education of residents in the proper placement of pedicle screws is key to the safety of the surgery. The more experienced the surgeon, the more accurately the pedicle screws tend to be placed. A physical bone model, with properties and tactile feel similar to human bone, was developed with the intention of using the bone model to train residents in pedicle screw placement. The purpose of this study was to test whether the model improves the performance of orthopaedic residents when cannulating spinal pedicles, as judged by the number of breaches, and to gain feedback from the residents on their experiences.

Summary Statement

Incorrect pedicle screw placement can lead to neurological complications. Practice outside the operating room on realistic bone models, with force feedback, could improve safety. Pedicle forces in cadaveric specimens are reported, to support development of a training tool for residents.

Summary Statement

A large proportion of knee arthroplasty patients are dissatisfied with their replacement. Significant differences exist between preoperative, postoperative and normal kinematics. A better understanding of the inter-relationships between kinematics, shape and prosthesis placement could lead to improved quality of life.

Knee kinematics are altered by total knee arthroplasty (TKA) both intentionally and unintentionally. Knowledge of how and why kinematics change may improve patient outcome and satisfaction through improved implant design, implant placement or through rehabilitation.

In the present study we imaged and compared the 6 degree-of-freedom (DOF) patellofemoral (PF) and tibiofemoral (TF) kinematics of 9 pre-TKA subjects to the kinematics of 15 post-TKA subjects (Zimmer NexGen LPS implants) using a novel sequential-biplanar radiographic protocol that allowed imaging the postoperative patellofemoral joint under weightbearing throughout the range of motion, which has not been done previously to our knowledge.

There were clear, statistically significant differences between the pre-TKA and post-TKA kinematics: for the TF joint, the tibia was more posterior and inferior (max 20 mm and 15 mm, respectively) in the post-TKA group compared to the pre-TKA group (p<0.001), and had neutral alignment in the post-TKA group compared to varus alignment (max 9°) in the pre-TKA group (p<0.001). For the PF joint, the patella was shifted more posteriorly and medially, and tilted more medially in the post-TKA group compared to the pre-TKA group (p<0.001). There were no significant differences in PF superior/inferior translation and flexion/extension (p>0.5). Both groups showed differences from normal kinematics, based on the literature.

The kinematic differences are likely due to a combination of surgical, implant and patient factors. To investigate this further, we imaged the 9 pre-TKA subjects a minimum one year after their surgery; analysis of these data is in progress. Computed tomography (CT) scans and quality of life surveys were also taken before and after surgery. By comparing the preoperative and postoperative kinematics and shape for the same subjects, and analysing the interrelationships amongst these, we aim to determine if a different implant shape or different component positioning could create more normal kinematics, resulting in a better clinical outcome.

Inserting screws into the vertebral pedicles is a challenging step in spinal fusion and scoliosis surgeries. Errors in placement can lead to neurological complications. The more experienced the surgeon, the better the accuracy of the screw placement. A physical training system would provide residents with the feel of performing pedicle cannulation before operating on a patient. The proposed system consists of realistic bone models mimicking the geometry and material properties of typical patients, coupled with a force feedback probe. The purpose of the present study was to determine the forces encountered during pedicle probing to aid in the development of this training system.

We performed two separate investigations: [1] 15 participants (9 expert surgeons, 3 fellows and 3 residents) were asked to press a standard pedicle awl three times onto a mechanical scale, blinded to the force, demonstrating what force they would apply during safe pedicle cannulation and during unsafe cortical breach; [2] three experienced surgeons used a standard pedicle awl fitted with a one-degree of freedom load cell to probe selected thoracolumbar vertebrae of eight cadaveric specimens to measure the forces required during pedicle cannulation and deliberate breaching. A total of 42 pedicles were tested.

Both studies had wide variations in the results, but were in general agreement. Cannulation (safe) forces averaged approximately 90 N (20 lb) whereas breach (unsafe) forces averaged approximately 135–155 N (30–35 lb). The lowest average forces in the cadaveric study were for pedicle cannulation, averaging 86 N (range, 23–125 N), significantly lower (p<0.001) than for anterior breach (135 N; range, 80–195 N); medial breach (149 N; range, 98–186 N) and lateral breach (157 N; range, 114–228 N). There were no significant differences between the breach forces (p>0.1). Cannulation forces were on average 59% of the breach forces (range, 19–84%) or conversely, breach forces were 70% higher than cannulation forces.

To our knowledge, these axial force data are the first available for pedicle cannulation and breaching. A large range of forces was measured, as is experienced clinically. Additional testing is planned with a six-degree-of-freedom load cell to determine all of the forces and moments involved in cannulation and breaching, throughout the thoracolumbar spine. These results will inform the development of a realistic bone model as well as a breach prediction algorithm for a physical training system for spine surgery.

INTRODUCTION

Poor acetabular cup orientation in total hip arthroplasty (THA) can cause dislocation and impingement, and lead to osteolysis (Little et al., 2009) and inflammatory soft tissue reactions (Haan et al., 2008). While the intrinsic accuracy of cup positioning in navigation is reported as low as 1° (Parratte et al., 2009), a large anterior pelvic tilt may lead to an offset of the same magnitude in the final cup anteversion (Wolf et al., 2005). The objectives of this study are to demonstrate feasibility of a new, non-invasive radiographic tool for accurate preoperative determination of a patient's specific pelvis angle, and intraoperative and postoperative assessment of the acetabular cup orientation with respect to boney landmarks.

Orthopaedic surgery residents typically learn total knee arthroplasty (TKA) through an apprenticeship-type model, which is a necessarily slow process. If residents could learn the required technical and cognitive skills more quickly, they could make better use of reduced hours in the operating room, surgeons could teach at a higher level, patients could have shorter operating times with better outcomes, and the healthcare system would have reduced costs and better-trained surgeons.

Surgical skills courses, using artificial bones, have been shown to improve technical and cognitive skills significantly within a couple of days. Computer-assisted surgery (CAS) provides real-time feedback and component position planning, leading to improved alignment and a shorter learning curve. Combining these two approaches challenges the participants to consider the same task in different contexts, promoting cognitive flexibility.

We designed a hands-on educational intervention for junior residents incorporating a conventional tibiofemoral TKA station, two different tibiofemoral CAS stations and a conventional and CAS patellar resection station. The same implant system was used in all cases. Both qualitative and quantitative analyses were performed. Qualitatively, structured interviews before and after the course were analysed for recurring themes. Quantitatively, subjects were evaluated on their technical skills in a timed conventional TKA test before and after the course, and on their knowledge and error-detection skills after the course. Their performance was compared to senior residents who performed only the testing.

Four themes emerged: increased confidence, improved awareness, deepening knowledge and changed perspectives. The residents' attitudes to CAS changed from negative before the course to neutral or positive after the course. They expected it to be difficult to use and found that it was easy. They originally distrusted the system, but came to think they would use it for their most difficult cases. The junior resident group improved their task completion rate from 23% to 75% of tasks (p<0.01), compared to 45% of tasks completed by the senior resident group.

As a result of the course, the residents will be more aware what to focus on in the operating room. High impact educational interventions, promoting cognitive flexibility and including real-time feedback from computer-assisted surgery simulations, would benefit trainees, surgeons, the healthcare system and patients.

Objectives

Numerous complications following total knee replacement (TKR) relate to the patellofemoral (PF) joint, including pain and patellar maltracking, yet the options for in vivo imaging of the PF joint are limited, especially after TKR. We propose a novel sequential biplane radiological method that permits accurate tracking of the PF and tibiofemoral (TF) joints throughout the range of movement under weightbearing, and test it in knees pre- and post-arthroplasty.

Purpose

Measurements of patellar kinematics are essential to investigate the link between anterior knee pain following knee arthroplasty and patellar maltracking. A major challenge in studying the patellofemoral (PF) joint postoperatively is that the patellar component is only partially visible in the sagittal and close-to-sagittal radiographs. The narrow angular distance between these radiographs makes the application of conventional bi-planar fluoroscopy impossible. In this study a methodology has been introduced and validated for accurate estimation of the 3D kinematics of the PF joint post-arthroplasty using a novel multi-planar fluoroscopy approach.

Introduction

The most common method for accurate kinematic analysis of the knee arthroplasty uses bi-planar fluoroscopy and model-based RSA. The main challenge is to have access to reverse-engineered CAD models of the implant components, if not provided by the company, making this method impractical for a clinical study involving many types or sizes of implants. An alternative could be to reconstruct the 3D primitive features of the implant, such as cylindrical pegs, flat surfaces and circular boundaries, based on their 2D projections. This method was applied by Kaptein et al. (2006) for hip implants. However, despite its broad potential, it has not yet been applied for studying TKA kinematics. This study develops a methodology for feature-based RSA of TKA and investigates the range of accuracies in comparison to model-based RSA.

Introduction

Poor clinical outcomes following total knee arthroplasty (TKA) can be related to improper alignment of the components. The main challenge is the variability in biomechanical references, especially in cases of severe deformity or dysplasia, and in determining the surgical landmarks intraoperatively. An intraoperative imaging tool can be very useful to assess the alignments when there is still a chance for correction. We investigated, on cadaveric specimens, the accuracy of using iso-centric (ISO-C) imaging (that reconstructs 3D from multiple 2D fluoroscopic images) for this purpose.

Metal-on-metal hip arthroplasty is nowadays a well spread technique for hip replacement. It is a technically demanding procedure with sine qua non steps. Most of the large Australian, British and north-American clinical outcomes found about 20% early failure, within 3 months, during the steep part of the learning curve. In a biomechanical study on cadaver we showed that valgus and version placements should be appropriate in order to get the most effective strength in compression. But valgus placement is drastically limited by lateral neck notching which leads to early fracture. Anteversion also should be manage to address the cam-type shape of the ventro-lateral femoral neck, since most of the young patient with hip arthritis present retroverted misalignment of the head along the neck axis. The size of the femoral head is another issue because big head component needs a big acetabular cup. Sparing large amount of bone on the femoral side might lead to bone lost on the pelvic side. In order to enhance the placement of the femoral component – smallest one, in valgus, without retroversion and without neck notching – manufacturers propose mechanical device based on neck intraoperative palpation. Digitalized versions of this principle are also available. These systems still demand experienced surgeon to make slight adjustment on entry point and trajectory of the guide-wire. Imageless computer navigation based on proximal femur palpation and atlas is interesting on almost normal bone but could be inaccurate on altered bone, especially cam-type shape. Navigation based on CT scan gives exact 3D information and accurate planning but is still time consuming. Navigation on 2D fluoroscopic view shows good clinical results with only about 20 minutes more than a standard procedure.

We proposed a bone morphing^® procedure with emphasis of surface palpation on head-neck junction to get accurately the personal shape of each femur. Preliminary results on pathological bones showed safe reaming of the head without notching.

Purpose of the study: Hip resurfacing with a metal-on-metal bearing gives good mid-term clinical results. The design of the femoral piece has an effect on implant longevity, as does the vitality of the underlying cephalic bone. Computer-assisted surgery has been helpful in position the implant but the choice of the best position is still empirical. Prosthesis designers recommend valgus, but with too much there is a risk of a superolaterl notch which would weaken the neck. This leads the surgeon to use a larger femoral implant, and consequently to resect more acetabular bone. Anteversion is not evaluated. The purpose of this study was test mechanically different valgus/varus, anteversion/retroversion positions of the femoral implant.

Material and methods: We implanted 15 femurs made of resin which were geometrically and mechanically identical. The following angles were tested: varus/valgus (−10°, neutral, +10°, +20°) and ante/retroversion (−10°, neutram, +10). A valgus notch (+20° and +10°) and a varus notch (−10°) were simulated. The femurs thus prepared were tested with Instron 8874. Load at failure was noted as well as the type of fracture: distance from the fracture line to the greater trochanter (FGT). Student’s t test was applied.

Results: All of the femurs fractured at the neck. The fracture was closer to the implant (FGT: 11.0 mm) for the 20° valgus implantation (p< 0.05). The displacement was lesser with a valgus notch (mean 2.2 mm) then without a notch (mean 3.3 mm (p< 0.05). The varus notch had no effect. The failure load was lower for 20° valgus (1236 N, range 1117–1356N) then for the other angles (1664N, range 1142–2113 N) with near statistical significance (p=0.08). Retroversion had no effect. Anteversion allowed greater displacement (4.1 mm) and supported greater loading (1879 N) before failure.

Discussion: This study, unlike clinical studies, did not demonstrate any static mechanical superiority of the valgus position for the femoral piece. Another study on cadaver bones is planned for confirmation. Clinical studies reflect the vitality of the trabecular bone supporting the implant, a vitality which could be stimulated by the valgus position.