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
C-Arm fluoroscopy is limited by its 2D imaging modality and is incapable of providing accurate 3D quantitative assessment of operative anatomy. In High Tibial Osteotomy (HTO), assessing the distance between the mechanical axis of the leg and the centre of the knee joint is difficult to accomplish due to limited fluoroscopic view size. A previously developed sensor-based tracking system (TC-Arm)adds on to C-arm equipment to provide additional quantitative capabilities. A new image-based tracking module was developed for TC-Arm using a reference panel with an array of fiducial markers. The image analysis software segments the marker positions in each image and identifies image coordinates with respect to the panel. Each image's parameters are identified by 2D-3D matching of the panel's 3D model to the marker's epipolar geometries. Finally, the defined linear transformation matrices are applied for positioning all the fluoroscopic images with respect to the same global reference. A Sawbone model of the leg was used as a phantom and marked with radio-dense fiducial markers at the centres of each joint. An Optotrak optoelectronic tracking system data was used to validate the new module's functions. First, tracking accuracy was determined by comparing orthogonal-stereo views and the reconstructed positions of the panel's design. Secondly, TC-Arm's results were compared to the corresponding digitised references points on the Sawbone model to calculate errors in the varus/valgus angle and mechanical axis deviation. The new addition to the TC-Arm has a reasonable tracking accuracy (<3.6mm, <4°) considering HTO: The system measured the mechanical axis deviation for HTO application with an accuracy of 1.3 mm and 1.4°. Comparing these results with the acceptable tolerance of less than 10 mm for MAD reported in the literature, our demonstrated results are considered to be within an acceptable range. With the new module, the capability for three-dimensional quantitative assessments of operative anatomies of any size can be added to any C-arm equipment in the OR. This can have great potential for many complex orthopaedic trauma, reconstruction, or preservation surgeries including HTO.
The anterior pelvic plane (APP) is used as a reference in various pelvic surgeries in orthopaedics. Current methods for identifying the APP are limited in accuracy and efficiency. A quick and accurate method for registering the pelvis orientation can be very useful. Previously, we have introduced a Tracked C-arm (TC-arm) system for use with any C-arm fluoroscopy for producing spatially calibrated imaging views. This system has been tried for estimating the APP. Early results, however, has shown limited repeatability in identifying the anterior superior iliac spine (ASIS) landmarks. This study improves the previous algorithms for a robust registration of the APP. A Sawbone pelvis was used, and its APP was marked by radio-dense ball-bearings. In the new addition, the TC-arm allowed segmenting the ASIS in an interactive user-interface by taking guidance from a reference line tangential to the ipsilateral pubic tubercle for marking the most anterior point on the iliac-crest. The imaging and analysis was repeated 10 times. The results were compared to reconstruction of the fiducial markers placed on the true APP. Accuracy of 1.4° and 4.4° were found for registering the pelvic tilt and rotation, correspondingly. The overall accuracy and precision of registration of the APP were 4.7° and 0.82°, correspondingly. The new method showed 7.5 times improvement in repeatability of measuring the pelvic tilt (SD<0.4°) compared to the previous fluoroscopic methods. This technique addresses an important challenge in estimation of the pelvic bone which is crucial for reliable device placement and producing standard radiographic views in surgery.
Rotational malalignment of the components in total knee arthroplasty has been linked to patellar maltracking, improper soft tissue balance, abnormal kinematics, premature wear of the polyethylene inlay, and subsequent clinical complications such as anterior knee pain (Barrack et al., 2001; Zihlmann et al., 2005; Lakstein at al., 2010). This study investigates an innovative image-based device that is designed to be used along with an intraoperative Isocentric (ISO-C) 3D imaging C-arm, and the conventional surgical instruments for positioning the femoral component at accurate rotational alignment angles. The new device was tested on 5 replica models of the femur (Sawbones). Zimmer NexGen total knee replacement instruments were used to prepare the bones. After making the distal transverse cut on the femurs, the trans-epicondylar-axis (TEA) were defined by a line connecting the medial and lateral epicondyles which were marked by holes on the bone models. The 4-in-1 cutting jig was placed and pinned to the bones with respect to the TEA considering 5 different planned rotational alignments: −10°, −5°, 0°, +5°, and +10° (minus sign indicating external and plus sign internal rotation). At this point, the jig was replaced by the alignment device using the head-less pins as the reference, and subsequently an Iso-c 3D image of the bone was acquired using Siemens ARCADIS Orbic C-arm. The image was automatically analyzed using custom software that determined the angle between the TEA and the reference pins (Fig 1). The difference between the angle read from the device and the planned angle was then used to correct the locations of the reference pins through a custom protractor device. Preparation of the bone was continued by placing the 4-in-1 jigs on the newly placed pins. Three-dimensional images of the bones after completion of the cuts were acquired, and the angle between the final cut surface and the TEA was determined.INTRODUCTION
METHODS
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. The methodology stitches multiple radiographic views around the pelvis using a multi-planar radiography setup (Amiri et al., 2011) and reconstructs the reference boney landmarks and the acetabular cup in three dimensions using previously developed algorithms and software (Amiri et al., 2012). To validate the methodology, a Sawbone model of the pelvis and femur was implanted with a standard cementless metal-on-polyethylene THA, and was tracked and digitized by an Optotrak motion tracking system. Five radiographic views were acquired at the pubic tubercle (PT) and anterior-superior iliac spine (ASIS) levels (Views 1 to 5 in Fig 1). Imaging and analysis were repeated 10 times. Custom software (Joint 3D) was used to reconstruct the right and left PT and ASIS by fitting spheres to the corresponding pairs of images (Fig 1). The three-dimensional pose of the acetabular cup was reconstructed in the software by solving a back-projection equation of the elliptical shadow of the cup opening. Accuracies were measured as mean differences from the digitized references. A sample of the reconstructed graphical output for the anterior pelvic plane (APP) and the cup, in comparison to the digitized reference, is shown in Fig 2. Repeatability was estimated as standard deviation of the measures for the reconstructed locations of the boney landmarks and the APP (known as a standard reference plane for cup placement).INTRODUCTION
METHODS
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. An optoelectronic camera (Optotrak Certus) was used to track the motion of an ISO-C fluoroscopy C-arm (Siemens Siremobil) using two sets of markers attached to the X-ray source and detector housings. The C-arm was used in the Digital Radiography (DR) mode, which resembles an ordinary X-ray fluoroscopy image. A previously-developed technique (Cho et al., 2005; Daly et al., 2008) was adapted to find the geometric parameters of the imaging system. Thirty-eight DRs of the calibration phantom were obtained for the 190 of rotation of the C-arm at 5 rotational increments while data from motion markers were recorded continuously at a frequency of 100 Hz. A total knee replacement prosthesis was implanted on an artificial bone model of the knee, and the implant components and bones were rigidly fixed in place using a urethane rigid foam. For the purpose of validation, positions of the implant components were determined using a coordinate measuring machine (CMM). Sagittal and obliquely sagittal radiographs of the model were taken where the patellar component was most visible. For each DR the geometric parameters of the system were interpolated based on the location of the motion markers. The exact location of the projection was then determined in 3D space. JointTrack Bi-plane software (Dr. Scott Banks, University of Florida, Gainesville) was used to conduct 2D-3D registration between the radiographs and the reverse-engineered models of the implant components. Results of the registration were directly compared to the ground-truth obtained from the CMM to calculate the accuracies.Purpose
Method
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. Joint-3D software was developed in the MATLAB programming language to segment and fit elementary 2D features such as circles, lines, and ellipses to the edges of the parts on the radiographs (Figure 1). The software has the capability to reconstruct the 3D location and orientation of the components based on their 2D projections. To test the accuracy of the system a standard primary knee replacement system (Zimmer NexGen) was implanted on bone replica models, and positioned at 0° to 120° flexion at 30° intervals, simulating a lunge activity. For each pose, a multi-planar radiography system developed in our lab (Amiri et al., 2011) was used to take a sagittal and a 15° distally rotated radiograph (Figure 2a). Figure 1 shows the features C, L, and E segmented on the tibia and femur. The 3D reconstruction is performed based on a number of functions: Functions ‘
To determine the errors, model-based RSA measures were used as the reference using the reverse-engineered models of the components in JointTrack software (University of Florida).Introduction
Methods
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. Six fresh frozen cadaveric knees were implanted with a standard TKA system and imaged using an ISO-C 3D C-arm (Arcadis Orbic ISO-C). Each knee was scanned two times with the Iso-C scanner and with appropriate image settings to capture the transepicondylar axis (TEA) and the tibial tubercle individually. A CT scan of each specimen was acquired as the reference for comparison. The ISO-C 3D reconstructed volumes were analyzed on the C-arm. For the CT images, the 3D data were processed in Analyze software with the same objective. The surgical and clinical TEA was determined by moving and rotating an oblique cutting plane (Figure 1a:CT and 1c:ISO-C). This oblique slice was then moved distally to picture the femoral pegs (Figure 1b:CT and 1d:ISO-C). The angle between these two references (angle α in Figure 1) defined the rotational alignment. For the tibial component, the first cutting slice was oriented parallel to the component. A second slice was defined just distal to the component, and then moved distally to find the tibial tubercle in the third slice. The orientation of the tibial component was determined by fitting a rectangular box to the component boundary (Figure 2a:CT and 2d:ISO-C). The bone orientation was defined by a line connecting the centroid of a polygon drawn over the boundary of the cortical bone (Figure 2b:CT and 2e:ISO-C) to the medial third of the tibial tubercle (Figure 2c:CT and 2f:ISO-C). Measurements were repeated five times, the overall accuracies determined in comparison to CT, and the correlation between the ISO-C and CT determined by the Spearman rank (Introduction
Methods
