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

The clinical success and long-term outcomes of total knee arthroplasty (TKA) depend not only on the accuracy of femoral and tibial components positioning, but also on the restoration of a proper mechanical axis (MA). Coronal and rotational mal-alignment may affect significantly the final result of a knee replacement. Patient specific cutting guides and intra-operative Computer-Assisted Surgery (CAS) have recently been introduced as options to improve implant alignment during TKA. The purpose of this study was to compare the alignment accuracy and implant positioning of Patient Matched technique to CAS system in patients with primary TKA. A cohort of 68 consecutive patients who underwent TKA was enrolled for this study: 34 patients received a TKA using CAS system while 34 patients received a TKA using a MRI-based Patient Matched system. Mechanical axis and kinematics were digitally measured pre- and post-operatively in all knees using the intra-operative navigation system but data were blinded for the operating surgeon in the Patient Matched group. A post-operative CT-scan evaluation was performed in all patients to analyse the prosthetic components alignment (coronal, sagittal and axial alignment according to Perth Protocol from CT-scan). CT-scan measurements were used as landmarks as this tool is considered the gold standard. MA, posterior tibial slope (PTS) and femoral component rotation (FCR) in CAS group were compared to data of Patient Matched group. All patients also underwent a clinical evaluation with Knee Society Score (KSS) and Knee injury and Osteoarthritis Outcome Score (KOOS) at 6 and 12 months of follow up. KSS, KOOS and range of motion were comparable in the two groups after surgery. Operative time was significantly shorter in the Patient Matched group. No differences were found regarding complications rate. Mean angles, respectively for CAS and Patient Matched groups, were the following: MA was 1,7° (SD 0,9°) vs 0.8° (SD 2.1°); PTS was 3.1° (SD 0.9°) vs 3.4° (SD 2.1°); FCR was 1.5° (SD 2.2°) vs 1.36° (DS 1.2°). The outcomes of the CT scan evaluation were the following: MA was 1.5° (SD 0.8°) vs 1.0° (DS 1.5°); PTS was 2.3° (SD 0.8°) vs 3.0° (SD 2.6°); FCR was 0.4° (SD 0.8°) vs 0.2° (SD 0.3°). MA was within 3° of neutral alignment in 94% of patients for CAS group and in 97% of knees for Patient Matched group. After a short follow up, there weren't statistically significant differences between CAS and Patient Matched techniques as regards clinical and functional scores. Both the systems achieved the goal of neutral alignment within 3° of varus and valgus. We only observed greater precision for Patient Matched technique in optimizing femoral component rotation. Actually it is unpredictable if this difference may determine long term effects. Patient Matched technique and CAS for TKA surgery will certainly continue to have an impact in the future. Studies are needed to define which technique is better, in terms of long term results, failure rate and cost-effectiveness

Computer-assisted surgery (CAS) is a tool developed to allow accurate limb and implant alignment in total knee arthroplasty [TKA]. The strength of the technology is that it allows the surgeon to assess soft tissue balance and ligament laxity in flexion and extension. The accuracy of this ligament balancing technology depends upon an accurate determination of femoral component size. This size is established with intraoperative surface registration techniques. Customised instrumentation (CI) is a measured resection technique in which component size is established on preoperative 3D MRI reconstructions. The purpose of this study is to determine how these two computer-based technologies compare with regard to the accuracy with which femoral component size is established in TKA. 67 TKA were performed using CI and 30 TKA were performed using CAS by a single surgeon. CI-predicted and CAS-predicted femoral component size were compared to actual component selection. The process by which CI and CAS perform an anatomic registration was evaluated. The CI and CAS systems accurately predicted surgeon-selected femoral component size in 89% and 43% of cases, respectively (p<0.001). The discrepancy between predicted and actual femoral component size with CI and CAS was 0.1 and 0.8 sizes, respectively (p<0.001). The maximum deviation between predicted and actual femoral component size was greater in CAS than in PMI (three sizes versus one size, respectively). The anterior cortex cut was flush in 92% of CI cases. The rotation profile was consistent with Whiteside's line in 95% of CI cases. The CI system was both more accurate and more precise than the CAS navigation system in predicting femoral component size in TKA. CI utilises preoperative MR imaging to generate femoral component sizing based on optimizing medial-lateral fit with a measured posterior femoral bone resection. CAS utilises surface registration techniques based on anatomic site registration that may be subject to intraoperative measurement error due to difficult visualization (femoral epicondyles), inherent subjectivity (Whiteside's line) or anatomic variation (hypoplastic posterior condyles). CI bases implant sizing solely on reproducing an anatomical fit and a measured resection technique, whereas CAS attempts to balance an anatomic fit with optimal soft tissue balancing. In this study, the surgeon's final component selection was more likely to be in accordance with the CI rather than the CAS sizing algorithm. The CI system was capable of accurate femoral component placement in TKA. This study suggests that intraoperative surface registration may not be as accurate as preoperative 3D MRI reconstructions for establishing optimal femoral component sizing. Surgeons using intraoperative navigation based surface registration need to be aware of this when making femoral component size selection, establishing ligament balance, and determining femoral rotation

Introduction

Acquiring adaptive soft-tissue balance is one of the most important factors in total knee arthroplasty (TKA). However, there have been few reports regarding to alteration of tolerability of varus/valgus stress between before and after TKA. In particular, there is no enough data about mid-flexion stability. Based on these backgrounds, it is hypothesized that alteration of varus/valgus tolerance may influence post-operative results in TKA. The purpose of this study is an investigation of in vivo kinematic analyses of tolerability of varus/valgus stress before and after TKA, comparing to clinical results.

Computer assisted surgery (CAS) is used in trauma surgery to reduce radiation and improve accuracy but it is time consuming. Some trials for navigation in small bone fractures were made, but they are still experimental. One major problem is the fixation of the dynamic reference base for navigation. We evaluated the benefit of a new image based guidance-system (Surgix®, Tel Aviv, Israel) for fracture treatment in scaphoid bones compared to the conventional method without navigation. The system consists of a workstation and surgical devices with embedded radio opaque markers. These markers as well as the object of interest must be on the same C-arm shot. If a tool is detected in an image by the attached workstation additional information such as trajectories are displayed in the original fluoroscopic image to serve the surgeon as aiming device. The system needs no referencing and no change of the workflow.

For this study 20 synthetic hand models (Synbone®, Malans, Switzerland) were randomised in two groups. Aim of this study was a central guide-wire placement in the scaphoid bone, which was blindly measured by using postoperative CT-scans. Significant distinctions related to the duration of surgery, emission of radiation, radiation dose, and trials of guide-wire positioning were observed.

By using the system the surgery duration was with 50 % shortened (p = 0.0054) compared to the conventional group. One reason might be the significant reduction of trials to achieve a central guide-wire placement in the bone (p = 0.0032). Consequently the radiation exposure for the surgeon and the patient could be shortened by reduction of radiation emission (p = 0.0014) and radiation dose (p = 0.0019).

By using the imaged based guidance system a reduction of surgery duration, radiation exposure for the patient and the surgeon can be achieved. By a reduced number of trials for achieving a central guide-wire position the risk of weakening the bone structure can be minimised as well by using the system. The system seems helpful where navigation is not applicable up to now. The surgical workflow does not have to be chanced.

Background:

Numerous studies have reported the importance of acetabular component positioning in decreasing dislocation rates, the risk of liner fractures, and bearing surface wear in total hip arthroplasty (THA). The goal of improving acetabular component positioning has led to the development of computer-assisted surgical (CAS) techniques, and several studies have demonstrated improved results when compared to conventional, freehand methods. Recently, a computed tomography (CT)-based robotic surgery system has been developed (MAKO™ Robotic Arm Interactive Orthopaedic System, MAKO Surgical Corp., Fort Lauderdale, FLA, USA), with promising improvements in component alignment and surgical precision. The purpose of this study was to compare the accuracy in predicting the postoperative acetabular component position between the MAKO™ robotic navigation system and an imageless, CAS system (AchieveCAS, Smith and Nephew Inc., Memphis, TN, USA).

The Bernese periacetabular osteotomy (PAO) described by Ganz, et al. is a commonly used surgical intervention in hip dysplasia. PAO is being performed more frequently and is a viable alternative to hip arthroplasty for younger and more physically active patients. The procedure is challenging because pelvic anatomy is prohibitive to visibility and open access and requires four X-ray guided blind cuts around the acetabulum to free it from the hemi-pelvis. The crucial step is the re-orientation of the freed acetabulum to correct the inadequate coverage of the femoral head by idealy rotating the freed acetabular fragment.

Diagnosis and the decision for surgical intervention is currently based upon patient symptoms, use of two-dimensional (2D) radiographic measurements, and the intrinsic experience of the surgeon. With the advent of new technologies allowing three-dimensional reconstructions of hip anatomy, previous two-dimensional X-ray definitions have created much debate in standardizing numerical representations of hip dysplasia. Recent work done by groups such as Arminger et al. have combined and expanded two-dimensional measurements such as Center-Edge (CE) angle of Wiberg, Vertical-Center-Anterior margin (VCA) angle, Acetabular Anteversion (AcetAV) and applied them to three-dimensional CT rendering of hip anatomy. Further, variability in pelvic tilt is a confounding factor and has further impeded measurement translatability.

Computer assisted surgery (CAS) and navigation also called image-guided surgery (IGS) has been used in clinical cases of PAO with mixed results. The first appearing study of CAS/IGS in PAO was conducted by Langlotz, et. al 1997 and reported no clinical benefit to using CAS/IGS. However, they did conclude that the use of CAS/IGS is undoubtedly useful for surgeons starting this technically demanding procedure. This is supported by a more recent study done by Hsieh, et. al 2006 who conducted a two year randomised study of CAS/IGS in PAO and concluded its feasibility to facilitate PAO, but there was not an additional benefit when conventional PAO is done by an experienced surgeon. A study done by Peters, et. Al 2006 studying the learning curve necessary to become proficient at PAO found that “The occurrence of complications demonstrates a substantial learning curve” and thus makes a compelling argument for the use of CAS/IGS.

A major obstacle to navigation and CAS/IGS revolves around consistency, intra-operative time and ease of use. Custom made guides and implants may help circumvent these limitations. The use of CAS/CAM in developing custom made guides has been proven very successful in areas of oral maxillofacial surgery, hip arthroplasty, and knee replacement surgeries. Additionally, a significant study in the development of rapid prototyping guides in the treatment of dysplastic hip joints was done by Radermacher et. al 1998. They describe a process of using CAS/CAM within the operational theatre using a desktop planning station and a manufacturing unit to develop what they termed as “templates” to carry out a triple osteotomy.

Our group is evaluating and developing strategies in PAO using CAS/IGS and more recently using CAS and computer aided modeling (CAM) to develop custom made guides for acetabular positioning. Our first study (Burch et al.) focused on CAS/IGS in PAO using cadavers and yielded small mean cut (1.97± 0.73mm) and CE angle (4.9± 6.0) errors. Our recent study used full sized high-resolution foam pelvis models (Sawbones^®, Vashon, Washington) and used CAS/IGS to carry out the pelvic cuts and CAS/CAM to develop a acetabular positioning guide (APG) by rapid prototyping. The CAS/IGS pelvic cuts results were good (mean error of 3.18 mm ± 1.35) and support our and other studies done using CAS/IGS in PAO. The APG yielded high accuracy and was analysed using four angles with an overall mean angular error of 1.81 (0.55⁰)and individual angulation was as follows: CE 0.83° ± 0.53, S-AC 0.28° ± 0.19, AcetAV 0.41° ± 0.37, and VCA 0.68° ± 0.27. To our knowledge this is the first developed APG for PAO.

The APG we developed was to demonstrate the concept of using a positioning guide to obtain accurate rotation of the acetabular fragment. For a clinical application a refined and sleeker design would be required. Further, because working space within the pelvis is extraordinary constrained, once fitted the APG would need to remain and serve as an implantable cage capable of holding bone graft. A potential material is polyetheretherketone (PEEK). Customised PEEK implants and cages have been established in the literature and is a potential option for PAO. The benefits of an implant not only serve to constrain the acetabular fragment in the ideal position based upon the pre-operative plan, but may also provide the structural support for rotations not other wise possible.

Though CAS/IGS is a proven viable option, we envision a potentially simpler method for PAO, the use of a cut guide and an acetabular positioning implant. Using customized guides and implants could potentially circumvent the need for specialised intra-operative equipment and the associated learning curves, by providing guides that incorporate the pre-operational plan within the guide, constraining the surgeon to the desired outcome.

Recently, several preliminary reports have been issued on the application of computer assistance to bone tumour surgery. Surgical navigation systems can apply three-dimensional images such as CT and MR images to intraoperative visualization. Although CT is better at describing cortical bone status, MRI is considered the best method for defining the extent of marrow involvement for bone tumours and for planning surgical resection in bone tumour surgery. There have been a few reports on the application of MR imaging to navigation-assisted bone tumour surgery through CT–MR image fusion. However, the CT–MRI fusion technique requires additional costs and exposure of the patient to radiation from the preoperative CT, as well as additional time for image fusion. Above all, the image fusion process is a kind of registration (image to image registration) that inevitably leads to registration error. Herein we describe a new method for the direct application of MR images to navigation-assisted bone tumour surgery as an alternative to CT–MRI fusion. Six patients with an orthopaedic malignancy were employed for this method during navigation-assisted tumour resection. Resorbable pin placement and rapid 3-dimensional spoiled gradient echo sequences made the direct application of MR images to computer-assisted bone tumour surgery without CT–MR image fusion possible. A paired-point registration technique was employed for patient-image registration in all patients. It took 20 min on average to set up the navigation (range 15 to 25 minutes). The mean registration error was 0.98 mm (range 0.4 to 1.7 mm). On histologic examination, distances from tumours to resection margins were in accord with preoperative plans. Mean duration of follow-up was 25.8 months (range 18 to 32 months). No patient had a local recurrence or distant metastasis at the last follow-up. Direct patient-to-MRI registration is a very useful method for bone tumour surgery, permitting the application of MR images to intraoperative visualization without any additional costs or exposure of the patient to radiation from the preoperative CT scan

The hip centre (HC) in Computer Assisted Orthopedic Surgery (CAOS) can be determined either with anatomical (AA) or functional approaches (FA). AA is considered as the reference while FA compute the hip centre of rotation (CoR). Four main FA can be used in CAOS: the Gammage, Halvorsen, pivot, and least-moving point (LMP) methods. The goal of this paper is to evaluate and compare with an in-vitro experiment (a) the four main FA for the HC determination, and (b) the impact on the HKA.

The experiment has been performed on six cadavers. A CAOS software application has been developed for the acquisitions of (a) the hip rotation motion, (b) the anatomical HC, and (c) the HKA angle. Two studies have been defined allowing (a) the evaluation of the precision and the accuracy of the four FA with respect to the AA, and (b) the impact on the HKA angle.

For the pivot, LMP, Gammage and Halvorsen methods respectively: (1) the maximum precision reach 14.2, 22.8, 111.4 and 132.5 mm; (2) the maximum accuracy reach 23.6, 40.7, 176.6 and 130.3 mm; (3) the maximum error of the frontal HKA is 2.5°, 3.7°, 12.7° and 13.3°; and (4) the maximum error of the sagittal HKA is 2.3°, 4.3°, 5.9°, 6.1°.

The pivot method is the most precise and accurate approach for the HC localisation and the HKA computation.

Despite being demonstrably better than conventional surgical techniques with regards to implant alignment and outlier reduction, computer navigation systems have not faced widespread adoption in surgical operating rooms. We believe that one of the reasons for the low uptake stems from the bulky design of the optical tracker assemblies. These trackers must be rigidly fixed to a patient's bone and they occupy a significant portion of the surgical workspace, which makes them difficult to use. In this study we introduce the design for a new optical tracker system, and subsequently we evaluate the tracker's performance. The novel tracker consists of a set of low-profile flexible pins that can be placed into a rigid body and individually deflect without greatly affecting the pose estimation. By relying on a pin's stiff axial direction while neglecting lateral deviations, we can gain sufficient constraint over the underlying body. We used an unscented Kalman filter based algorithm as a recursive body pose estimator that can account for relative marker displacements. We assessed our tracker's performance through a series of simulations and experiments inspired by a total knee arthroplasty. We found that the flexible tracker performs comparably to conventional trackers with regards to accuracy and precision, with tracking errors under 0.3mm for typical operating conditions. The tracking error remained below 0.5mm during pin deflections of up to 40mm. Our algorithm ran at computation speeds greater than real-time at 30Hz which means that it would be suitable for use in real-time applications. We conclude that this flexible pin concept provides sufficient accuracy to be used as a replacement for rigid trackers in applications where its lower profile, its reduced invasiveness and its robustness to deflection are desirable characteristics.

INTRODUCTION

The functional and anatomical results of TKA revisions are less good than a primary TKA. The TKA revision frequency increases and we must improve our surgeries and prepare the next standard of these surgeries. The aim of this study was to evaluate the CAOS / one stage strategie to treat the knee PJIs.

Introduction

Accurate alignment of components in total knee arthroplasty (TKA) is a known factor that contributes to improvement of post-operative kinematics and survivorship of the prosthetic joint. Recently, CAOS has been introduced into TKA in effort to reduce positioning variability that may deviate from the mechanical axis. However, literature suggests that clinical outcomes following TKA with CAOS may not present a significant improvement from traditional methods of implantation. This would infer that achieving correct alignment, alone, might be insufficient for ensuring an optimal reconstruction of the joint. Therefore, this study seeks to evaluate the importance of soft-tissue balancing, through the quantification of joint kinetics collected with intraoperative sensors, with or without the combined use of CAOS.

A key determinant of long-term implant survival following primary TKA is post- operative alignment of the limb and components. The aim of this study was to compare the accuracy of the Vector-Vision CT-free navigation system versus conventional hand-guided TKA by comparing post-operative alignment.

In a retrospective study 51 sets of post-operative radiographs were analysed, 33 computer-guided and 18 hand-guided. A specific protocol for the measurement of post-operative TKA radiographs was outlined and a novel Trigonometric Method (TM) of angle measurement was compared with the traditional Goniometer Method (GM) of measurement.

The standardised protocol was applied to all 51 sets of radiographs. In total, six angles were measured on each radiograph by two independent observers and compared between the computer-guided and hand-guided groups.

A protocol for the measurement of post-operative TKA radiographs was delineated with step-by-step instructions. The TM of angle measurement had a precision of 1.06° compared with 1.5° using the GM. The standard deviation of the TM was significantly smaller than the GM (p=0.033) and the intra-class correlation coefficient (ICC) of the TM was 0.94 versus 0.90 for the GM.

For the Mechanical Axis (MA), 91% of patients in the computer-guided group attained a MA within 180±3o compared with only 78% in the hand-guided group. T he absolute median raw deviation from 180° was 0.8 in the navigated group and 1.9° in the hand-guided group (p=0.029). Thus, the navigated group was associated with significantly less variability about the neutral 180°. For the other five angle measurements, a higher percentage of patients attained a more neutral alignment with computer-guided TKA; however, these did not reach statistical significance

The computer-assisted group demonstrated significantly more neutral alignment following TKA, and this may in turn lead to reduced TKA failure rates and improved implant longevity. In addition, a new TM of angle measurement was found to be more superior in terms of precision in comparison to the traditional method.

INTRODUCTION

Over the last twenty years, image-guided interventions have been greatly expanded by the advances in medical imaging and computing power. A key step for any image-guided intervention is to find the image-to-patient transformation matrix, which is the transformation matrix between the preoperative 3D model of patient anatomy and the real position of the patient in the operating room. In this work, we propose a robust registration algorithm to match ultrasound (US) images with preoperative Magnetic Resonance (MR) images of the Humerus.

Introduction. Computer-assisted hip navigation offers the potential for more accurate placement of hip components, which is important in avoiding dislocation, impingement, and edge-loading. The purpose of this study was to determine if the use of computer-assisted hip navigation reduced the rate of dislocation in patients undergoing revision THA. Methods and Materials. We retrospectively reviewed 72 patients who underwent computer-navigated revision THA [Fig. 1] between January 2015 and December 2016. Demographic variables, indication for revision, type of procedure, and postoperative complications were collected for all patients. Clinical follow-up was performed at 3 months, 1 year, and 2 years. Dislocations were defined as any episode that required closed or open reduction or a revision arthroplasty. Data are presented as percentages and was analyzed using appropriate comparative statistical tests (z-tests and independent samples t- tests). Results. All 72 patients (48% female; 52% male) were included in the final analysis [Fig. 2]. Mean age of patients undergoing revision THA was 70.4 ± 11.2 years. Mean BMI was 26.4 ± 5.2 kg/m. 2. The most common indications for revision THA were instability (31%), aseptic loosening (29%), osteolysis/eccentric wear (18%), infection (11%), and miscellaneous (11%). During revision procedure, polyethylene component was most commonly changed (46%), followed by femoral head (39%), and acetabular component (15%). At 3 months, 1 year, and final follow-up, there were no dislocations among all study patients (0%). Compared to preoperative dislocation values, there was a significant reduction in the rate of dislocation with the use of computer-assisted hip navigation (31% vs. 0%; p<0.05). Discussion. Our study demonstrates a significant reduction in the rate of dislocation following revision THA with the use of computer navigation. Although the cause of postoperative dislocation is often multifactorial, the use of computer-assisted surgery may help to curtail femoral and acetabular malalignment in revision THA

Several preoperative planning tools in computer-assisted surgery in acetabular fractures have been proposed. Moreover, all these preoperative planning tools are based on geometrical repositioning with their own limitations. The aim of this study was to evaluate the value of our prototype virtual planning tool using a rigid biomechanical model to predict failure in fracture reduction. Between November of 2015 and June of 2016, 10 patients were operated by the main author for acetabular fracture in our institution. To validate our biomechanical model planning tool, biomechanical simulation was performed for each patient immediately after the surgery. Reduction quality was assessed on post-operative CT scans. A 3D model of the acetabular fracture was build out of the CT images using the non-commercial software Itksnap. Then a biomechanical model implemented within the non-commercial Artisynth framework was used to perform virtual reduction. Surgical approach and surgical strategy according to the operative report were simulated. The simulated reductions and the surgical reductions were compared. The same reductions were obtained during surgery and biomechanical simulation in the 10 cases. For 7 cases, reduction was achieved by anterior surgical approach and so was the simulation. For 3 cases, reduction was achieved by posterior surgical approach and so was the simulation. The biomechanical simulation found similar results using the same surgical strategy with 9 anatomical reductions (90%) and one imperfect reduction (10%). The mean duration to perform acetabular planning surgery was 24 +/− 9 min [16–38]. Our virtual planning tool using a rigid biomechanical model can predict success or failure in fracture reduction according to the surgical approach and the surgical strategy

Over the past fifteen years, computer-assisted surgery systems have been more commonly used, especially in joint arthroplasty. They allow a greater accuracy and precision in surgical procedures and thus should improve outcomes and long term results. New instruments such as guided handheld tools have been recently developed to ultimately eliminate the need for drilling/cutting or milling guides. To make sure that the handheld tool cuts and/or drills in the desired plane, it has to be servo-controlled. For this purpose, the tool joints are actuated by computer-controlled motors. A tracking system gives the tool position and orientation and a computer calculates the corrections for the motors to keep the tool in the desired plane. For this servo-control, a very fast tracking system would be necessary. It should be fast enough to follow human motion. Current optical tracking systems used for computer-assisted surgery have a bandwidth of about 10–60 Hz [3]. For servo-control, a bandwidth of about 200–300 Hz would be required to be faster than human reaction; the latency of the system should also be small, about 2–3 ms. Optical tracking systems with a higher bandwidth exist but are too expensive for applications in surgery; besides the latency – due to the complex computer vision treatment involved – is too big. We have developed a hybrid tracking system consisting of two cameras pointed at the operating field and a sensor unit which can be attached to a handheld tool. The sensor unit is made up of an inertial measuring unit (IMU) and numerous optical markers. The data from the IMU (three gyroscopes and three accelerometers placed such that their measurement axes are perpendicular to each other) and the marker images from the cameras looking at the optical markers are fed to a data fusion algorithm. This algorithm calculates the position and the orientation of any handheld tool. It can do so at the higher of the two sensor sample rates which is the IMU sample rate in our case. Our experimental setup consists of an ADIS 16355 IMU which runs at a sample rate of 250 Hz and a pair of stereo cameras which are sampled at 16.7 Hz. The data collected from these sensors are processed offline by the data fusion algorithm. To compare the results of our hybrid system to those of a purely optical tracking system, we use only the marker image data to recalculate the sensor unit's position by triangulation. The experiment we conducted was a fast motion in a horizontal direction starting from a rest position. The sensor unit position was calculated by the hybrid system and by the optical tracking system using the experimental data. The fast motion started right after the optical sample at t1 and the hybrid system detects it at once. The optical tracking system, on the other hand, only sees the motion at the next optical sample time t2. These results show that our hybrid system is able to follow a fast motion of the sensor unit whereas a purely optical tracking system is not. The proposed hybrid tracking system calculates position and orientation of any handheld tool at a high frequency of 250 Hz and thus makes it possible to servo-control the tool to keep it in the desired plane. Several similar systems fusing optical and inertial data have been described in the literature. They all use processed optical data, i.e. 3D marker positions. Our algorithm uses raw image data to considerably reduce computation time. This hybrid tracking system can be used with any handheld tool developed to substitute existing drilling, cutting or milling instruments used in orthopaedic surgery and particularly in arthroplasty. The sensor unit can be easily implemented into an existing optical tracking system. For the surgeon, the only change is an additional small inertial sensor besides the optical markers already attached to the tool. The authors would like to thank the AXA Research Fund for funding G.C. Claasen's work with a doctoral grant and Guillaume Picard for his contributions to the experimental setup

The objective of this paper is to demonstrate the difference in post-operative complication rates between Computer-assisted surgery (CAS) and conventional techniques in spine surgery. Several studies have shown that the accuracy of pedicle screw placement significantly improves with use of CAS. Yet, few studies have compared the incidence of post-operative complications between CAS and conventional techniques. The American College of Surgeons National Surgical Quality Improvement Program (ACS-NSQIP) database was used to identify patients that underwent posterior lumbar fusion from 2011 to 2013. Multivariate analysis was conducted to demonstrate the difference in post-operative complication rates between CAS and conventional techniques in spine surgery. Out of 15,222 patients, 14,382 (95.1%) were operated with conventional techniques and 740 (4.90%) were operated with CAS. Multivariate analysis showed that patients in the CAS group had less odds to experience adverse events post-operatively (OR 0.57, P <0.001). This paper examined the complications in lumbar spinal surgery with or without the use of CAS. These results suggest that CAS may provide a safer technique for implant placement in lumbar fusion surgeries

Purpose. External rotation of the femoral component is one factor that favors a satisfactory clinical result. New technologies have been developed to precisely implant the components of a total knee arthroplasty, including computer-assisted surgery (CAS) and patient-specific instruments (PSIs). The aim of this study was to compare the precision of CAS and PSIs when determining the orientation of the femoral component. Methods. A total of 65 patients operated on in 2008 with CAS had pre- and post-operative computed tomography (CT) in which the posterior condylar angle (PCA) was measured. The same pre- and post-operative measurements were performed for 27 patients operated on in 2010 with the assistance of PSI. For both populations, the antero-posterior femoral cuts were directed to implant the femoral component 3° of external rotation from the pre-operative posterior condylar line (PCL). Results. The pre-operative parameters for both groups were identical. The post-operative PCA was not significantly different between the CAS and PSI groups, but the pre- to post-operative difference in PCA for the PSI group indicated a diminution of 2 ± 2° compared to no change in the CAS group. A total of 28% of the patients operated on with CAS had their femoral component more internally rotated after the surgery compared to the pre-operative measurements. Conclusion. Both PSI and CAS achieve the same objective of externally rotate the femoral component in the transversal plan, even if CAS, some femoral components still remains less rotated than the plan

Purpose. This study aims to evaluate the two-year post-operative clinical outcomes of patients undergoing total knee arthroplasty (TKA) with computer-assisted surgery (CAS) using a pinless navigation system (BrainLAB® VectorVision® Knee 2.5 Navigation System) versus standard CAS. Methods. We analysed prospectively collected data from patients who underwent TKA with CAS from November 2008 to October 2012 over a two year follow-up period by a single senior surgeon. Primary outcome measures include Short-Form 36 (SF-36), Oxford Knee (OKS) as well as Knee Society Scores (KSS). Results. 100 patients were recruited in both arms of the study. Patients in the pinless navigation arm underwent a shorter duration of surgery compared to those in the standard CAS arm with 72±13 min and 83±11 min respectively (p<0.001). There was improvement in OKS for both in pinless navigation arm and standard CAS arm from 34±8 to 18±5 (p<0.001) and 34±9 to 18±5 respectively. This improvement was reflected in the SF-36 as well as KSS. The study did not detect any statistically significant differences in clinical outcomes between the two arms at two-year follow-up. Conclusion. Pinless navigation in TKA with CAS provides improvement in clinical outcomes that are similar to patients who underwent standard CAS with a shorter duration of surgery