Surgical navigation requires an accurate, stable transformation between the tracking system and reference images. This study was the design and evaluation of an additively manufactured calibrator with an integrated verification tool, used to register cone-beam computed tomography (CBCT) image volume to electromagnetic (EM) tracking.

An Aurora EM system was used to track both the calibrator and a surgical probe. Intraoperative CBCT images were acquired with a GE Innova 4100 scanner. The calibrator incorporated 7 tantalum beads, a 6DOF EM sensor, and 7 through-holes for calibrator verification. The calibrator was characterised using the beads and averaged EM reading in 10 poses.

Target Registration Error (TRE) estimation used a device with 14 beads and 18 through-holes. For verification, the probe was placed in each path and the axis and tip location measured relative to the calibrator. This verification task took about 45s. Axial error was the angle between the probed paths and designed axes; translation error was the shortest distance between these lines.

The translation TRE was 3.14±0.96 mm and the angular TRE was 1.7±0.7 degrees, which is consistent with published EM evaluations. The validation axes had an inter-line distance of 0.9±0.78 mm and an axial difference of 1.1±0.7 degrees. The verification errors were smaller than TRE because of the different mathematical formulation. Although the verification calculation was not exactly a tracking error, it provided an alternative quantitative assessment of registration accuracy. This integrated intra-operative registration verification minimises modifications to the surgical workflow and these results demonstrated highly accurate orientation tracking in a surgical environment.

According to the Canadian Joint Replacement Registry, in 2010–2011 there were 17,303 hip replacements performed in Canada of which 10% were revisions. More than 73% of these revisions were for aseptic loosening, wear, and instability which suggests that hip biomechanics may be anomalous. The hip joint is often described as a ball-and-socket joint, which implies congruent interacting bony joint surfaces and purely rotational relative motion. This study challenges the accepted kinematic description by analysing detailed motion of the hip joint using surgical navigation technology.

An in-vitro study was conducted using twelve fresh frozen cadaveric human hemi-pelvises in three soft-tissue states. Three dimensional digital models of each specimen were generated from segmentation of computed tomography images. Local coordinate reference devices, mounted on the proximal femur and anterior-superior iliac spine, were registered and tracked with an active optical localisation system. Positions and orientations were imported to custom virtual surgery software. The study used soft-tissue states as one variable and twelve combinations of flexion/extension, abduction/adduction and internal/external rotation as the other variable. The entire series of motions were repeated for (I) soft tissues intact, (II) capsule intact and (III) completely disarticulated joint. Translation of the femoral head with respect to the acetabular cup at each frame was extracted from the recorded data. An Analysis of Variance (ANOVA) was used to determine whether the means of translations in each dissection states were significantly different.

Translatory motion was observed in all specimens. Significant differences were found between magnitudes of translation in distinct soft tissue states (p<0.001). Investigation of sudden changes in translational tracks of each femoral head, plotted as 2-D wave forms, showed that there were no correlations between contact zones and excursions. Interestingly, three specific maneuvers were found to be more likely to cause maximal translations: ankle on knee (where the femur is flexed and externally rotated while being abducted), ankles crossed (where the femur is flexed and externally rotated while being adducted) and the pivot (where the femur is extended and externally rotated while the pelvis is abducted).

The highly accurate surgical navigation system detected subtle translatory behaviour in hip motion. The data provided evidence that the femoral head translates with respect to the acetabular cup with or without any contact between the two bones; such impingements were previously thought to be the main reason for femoral excursion. The statistical significance found between translations exhibited at different soft tissue states indirectly supports an aspherical model of the adult hip, with kinematics driven by both soft tissue and the anatomy. This work towards an improved biomechanical model of the hip could help guide both surgical intervention and implant design, leading to improved outcomes for the hundreds of thousands of hip surgeries performed globally each year.

Purpose

In the literature, the hip is near-ubiquitously described as a mechanical ball-and-socket joint. This implies purely rotational motion as well as sphere-on-sphere contact geometry. However, previous works, by several authors, have quantitatively demonstrated asphericity of the articular hip surfaces in a variety of populations. This in turn implies the true kinematics of the hip joint may be more complex than purely rotational motion.

Previously, general ellipsoidal shapes have been used to model the articular surface of the acetabulii of dysplastic hips. This work aims to orient the major axis of these ellipsoids with respect to the anterior pelvic plane (APP).

Purpose

Primary internal fixation of uncomplicated scaphoid fractures offers many advantages compared to conventional casting. However, ideal fixation placement along the central scaphoid axis can be challenging, especially if the procedure is performed percutaneously. Because of the lack of direct visualization, percutaneous procedures demand liberal use of imaging, thereby increasing exposure to harmful radiation.

It has been demonstrated that computer-assisted navigation can improve the accuracy of guidewire placement and reduce X-ray exposure in procedures such as hip fracture fixation. Adapting the conventional computer-assist paradigm, with preoperative imaging and intraoperative registration, to scaphoid fixation is not straightforward, and thus a novel tactic must be conceived.

Purpose: The purpose of this clinical trial was to investigate the accuracy of a novel method for computer-assisted distal radius osteotomy, in which computer-generated patient-specific plastic guides were used for intra-operative guidance. Our hypothesis was that these guides combine the accuracy and precision of computer-assisted techniques with the ease of use of mechanical guides.

Method: In a consecutive series of 9 patients we tested the accuracy of the proposed method. Prior to surgery, CT scans were obtained of both radii and ulnae in neutral rotation. Three-dimensional virtual models for both the affected and unaffected radius and ulna were created. The models of the unaffected radius and ulna were reflected to serve as a template for the correction. Custom-made software was used to plan the correction. The locations of the distal and proximal drill holes for the plate were saved and the locations of the distal holes before the osteotomy were determined. The design of a patient-specific instrument guide was calculated, into which a mirror image of intra-operative accessible bone structure of the distal radius was integrated. This allowed for unique positioning of the guide intra-operatively. For each planned drill location a guidance hole was incorporated into the guide. A plastic model of the guide was created using a rapid prototyping machine. Intra-operatively, a conventional incision was made and the guide was positioned on the distal end of the radius. The surgeon drilled the holes for the plate screws into the intact radius. The guide was removed and the surgeon performed the osteotomy using the conventional technique and shaved the bone from the distal radius fragment to accommodate the plate. Using the pre-drilled holes the plate was affixed to the distal radius fragment. The distal fragment was reduced until the proximal screw holes in the plate aligned with the pilot holes in the bone. To analyze the accuracy of the intra-operative procedure we compared the post-operative alignment of the radius with the planned alignment. A lateral and an A/P digitally reconstructed radiograph (DRR) of the plan were calculated. These DRRs were used to evaluate the radial inclination, the volar tilt and the ulnar variance of the planned alignment. Post-operative lateral and A/P X-Rays were used to determine the same three post-operative radiographic indices. The post-operative values were compared with the planned values.

Results: We found an average deviation for the radial inclination of 0.5°(StDev 1.8), for the volar tilt of 0.7°(StDev 2.3), and for the ulnar variance of 0.8mm (StDev 1.9).

Conclusion: These results show that the computer-generated instrument guides accurately achieved the planned alignment. The guides were easy to integrate into the surgical workflow and eliminated the need for intra-operative fluoroscopy for guidance of the procedure.

For hip resurfacing arthroplasty, precise planning and implantation of the components is necessary for long-term success. Earlier studies have shown that a computer-assisted technique can achieve higher accuracy than conventional technique. However, many of the proposed computer systems add additional complexity, time and cost to the surgery. This study investigated the use of rapid prototyping as an accurate, fast and cost-effective solution for computer-aided hip resurfacing.

From a CT scan of each patient, a 3-dimensional computer model of the proximal femur was produced and the drilling trajectory for the central pin of the stem was planned. To transfer this plan to the patient, surface-matched plastic drilling templates were created using a rapid prototyping machine. Depending on the surgical approach, these templates contained a mirror-image of parts of the anterior or posterior femoral head and neck. These mirror-image templates helped to exactly position the drilling guide on the bone during surgery, which ensures a precise transformation of the preoperative plan into the surgical field. To test the accuracy and reproducibility of this system, we created plastic models of three cadaver femurs using the rapid prototyping machine. For each of these femurs one anterior and one posterior drilling template were generated. Each template was applied three times to the femur model and the direction of the drilling target was recorded and axis deviations measured.

The average deviation between the planned and the template-guided drill direction was 1.3° for the anterior approach and 1.2° for the posterior approach. The reproducibility for the drilling axis was measured for the anterior approach as 0.4° and posterior 0.3°.

In comparison to previous published results for computer-assisted hip resurfacing, our results show similar or better accuracy. Further in-vitro and in-vivo experiments will be performed to obtain statistically significant accuracy measurements and intraoperative feasibility tests. Our early results show great potential for this technique for accurate and in-expensive guidance for hip resurfacing.

Our research group has recent clinical experience with our novel computer-assisted method of bone deformity correction using the Taylor spatial frame (Smith & Nephew, Memphis, TN). Practitioners of the Taylor spatial frame admit that there is a steep learning curve in using the frame. This is in large part due to the difficulty in accurately measuring 13 frame parameters and mounting the frame to the patient without inducing residual rotational and translational errors. Our technique aims to reduce complications due to these factors by preoperatively planning the desired correction and calculating the correction based on the actual three-dimensional location of the frame with respect to the anatomy, rather than from traditional radiographs. The surgeon has greater flexibility in choosing the position of the rings since this technique does not depend on placing the rings in a particular configuration.

Four clinical procedures have been performed at Kingston General Hospital (Kingston, ON, Canada) to date. The first patient presented with a proximal tibial growth-plate arrest that was secondary to a fracture. The result was a recurvatum deformity secondary to an eccentric growth arrest anteriorly. This deformity caused a stretch of the posterior capsule and posterior cruciate ligament that produced an unstable knee. The achieved correction, measured radiographically, was from an initial; − 14 degrees to a final +7 degrees of posterior slope.

The second patient presented with a proximal tibial soft tissue imbalance that was thought would eventually lead to a recurvatum deformity. An increase in the posterior slope of the tibia was induced to compensate for the soft tissue deformity. The radiographic correction was an increase in posterior slope from +7 degrees to +14 degrees and from 5 degrees varus to 8 degrees varus.

The third patient patient presented with a partially-healed malunited tibial fracture with 14 degrees of proximal tibial varus and 16 degrees of posterior slope. In spite of an uncomplicated frame application, the patient was not compliant with post-operative care and the frame was removed before correction could be achieved.

The fourth patient underwent a limb lengthening. At the time of writing, the adjustment schedule had not been completed.

Our computer-assisted procedure appears to be an effective method of improving Taylor spatial frame use. The senior surgeon (DPB) noted that the procedure is easy to perform, he no longer needs to measure the 13 frame parameters, and he can plan the correction in three dimensions. We also have the ability to modify the pace of the correction schedule to accommodate the rate of bone growth for each individual patient. Drawbacks of the technique include the requirements for a preoperative CT scan and a segmentation of the scan to produce the three-dimensional computer models.