Total hip replacement (THA) is among the most common and highest total spend elective operations in the United States. However, up to 7% of patients have 90-day complications after surgery, most frequently joint dislocation that is related to poor acetabular component positioning. These complications lead to patient morbidity and mortality, as well as significant cost to the health system. As such, surgeons and hospitals value navigation technology, but existing solutions including robotics and optical navigation are costly, time-consuming, and complex to learn, resulting in limited uptake globally. Augmented reality represents a navigation solution that is rapid, accurate, intuitive, easy to learn, and does not require large and costly equipment in the operating room. In addition to providing cutting edge technology to specialty orthopedic centers, augmented reality is a very attractive solution for lower volume and smaller operative settings such as ambulatory surgery centers that cannot justify purchases of large capital equipment navigation systems.Problem
Solution
Defining optimal coronal alignment in Total Knee Replacement (TKR) is a controversial and poorly understood subject. Tibial bone density may affect implant stability and functional outcomes following TKR. Our aim was to compare the bone density profile at the implant-tibia interface following TKR in mechanical versus kinematic alignment. Pre-operative CT scans for 10 patients undergoing medial unicompartmental knee arthroplasty were obtained. Using surgical planning software, tibial cuts were made for TKR with 7 degrees posterior slope and either neutral (mechanical) or 3 degrees varus (kinematic) alignment. Signal intensity, in Hounsfield Units (HU), was measured at 25,600 points throughout an axial slice at the implant-tibia interface and density profiles compared along defined radial axes from the centre of the tibia towards the cortices (Hotelling's t-squared and paired t-test).Background
Methods
The accurate positioning of the total knee arthroplasty affects the survival of the implants(1). Alignment of the femoral component in relation to the native knee is best determined using pre- and post-operative 3D-CT reconstruction(2). Currently, the scans are visualised on separate displays. There is a high inter- and intra-observer variability in measurements of implant rotation and translation(3). Correct alignment is required to allow a direct comparison of the pre- and post-operative surfaces. This is prevented by the presence of the prostheses, the bone shape alteration around the implant, associated metal artefacts, and possibly a segmentation noise. Create a novel method to automatically register pre- and post-operative femora for the direct comparison of the implant and the native bone.Background
Aim
Trochlear geometry of modern femoral implants is designed for the mechanical alignment (MA) technique for Total Knee Arthroplasty (TKA). The biomechanical goal is to create a proximalised and more valgus trochlea to better capture the patella and optimize tracking. In contrast, Kinematic alignment (KA) technique for TKA respects the integrity of the soft tissue envelope and therefore aims to restore native articular surfaces, either femoro-tibial or femoro-patellar. Consequently, it is possible that current implant designs are not suitable for restoring patient specific trochlea anatomy when they are implanted using the kinematic technique. This could cause patellar complications, either anterior knee pain, instability or accelerated wear or loosening. The aim of our study is therefore to explore the extent to which native trochlear geometry is restored when the Persona® implant (Zimmer, Warsaw, USA) is kinematically aligned. A retrospective study of a cohort of 15 patients with KA-TKA was performed with the Persona® prosthesis (Zimmer, Warsaw, USA). Preoperative knee MRIs and postoperative knee CTs were segmented to create 3D femoral models. MRI and CT segmentation used Materialise Mimics® and Acrobot Modeller® software, respectively. Persona® implants were laser-scanned to generate 3D implant models. Those implant models have been overlaid on the 3D femoral implant model (generated via segmentation of postoperative CTs) to replicate, BACKGROUND
METHODS
Conventional TKA surgery attempts to restore patients to a neutral alignment, and devices are designed with this in mind. Neutral alignment may not be natural for many patients, and may cause dissatisfaction [1]. To solve this, kinematical alignment (KA) attempts to restore the native pre-arthritic joint-line of the knee, with the goal of improving knee kinematics and therefore patient's function and satisfaction [1]. Proper prosthetic trochlea alignment is important to prevent patella complications such as instability or loosening. However, available TKA components have been designed for mechanical implantation, and concerns remain relating the orientation of the prosthetic trochlea when implants are kinematically positioned. The goal of this study is to investigate how a currently available femoral component restores the native trochlear geometry of healthy knees when virtually placed in kinematic alignment. The healthy knee OAI (Osteoarthritis Initiative) MRI dataset was used. 36 MRI scans of healthy knees were segmented to produce models of the bone and cartilage surfaces of the distal femur. A set of commercially available femoral components was laser scanned. Custom 3D planning software aligned these components with the anatomical models: distal and posterior condyle surfaces of implants were coincident with distal and posterior condyle surfaces of the cartilage; the anterior flange of the implant sat on the anterior cortex; the largest implant that fitted with minimal overhang was used, performing ‘virtual surgery’ on healthy subjects. Software developed in-house fitted circles to the deepest points in the trochlear grooves of the implant and the cartilage. The centre of the cartilage trochlear circle was found and planes, rotated from horizontal (0%, approximately cutting through the proximal trochlea) through to vertical (100%, cutting through the distal trochlea) rotated around this, with the axis of rotation parallel to the flexion facet axis. These planes cut through the trochlea allowing comparison of cartilage and implant surfaces at 1 degree increments - (fig.1). Trochlear groove geometry was quantified with (1) groove radial distance from centre of rotation cylinder (2) medial facet radial distance (3) lateral facet radial distance and (4) sulcus angle, along the length of the trochlea. Data were normalised to the mean trochlear radius. The orientation of the groove was measured in the coronal and axial plane relative to the flexion facet axis. Inter- and intra-observer reliability was measured.BACKGROUND
METHODS
Patellofemoral joint (PFJ) arthroplasty is traditionally performed using mechanical jigs to align the components, and it is hard to fine tune implant placement for the individual patient. These replacements have not had the same success rate as other forms of total or partial knee replacement surgery1. Our team have developed a computer assisted planning tool that allows alignment of the implant based on measurements of the patient's anatomy from MRI data with the aim of improving the success of patellofemoral joint arthroplasty. When planning a patellofemoral joint arthroplasty, one must start from the premise that the original joint is either damaged as a result of osteoarthritis, or is dysplastic in some way, deviating from a normal joint. The research aimed to plan PFJ arthroplasty using knowledge of the relationship between a normal PFJ (trochlear groove, trochlea axis and articular surfaces) and other aspects of the knee2, allowing the plan to be estimated from unaffected bone surfaces, within the constraints of the available trochlea. In order to establish a patient specific trochlea model a method was developed to automatically compute an average shape of the distal femur from normal distal femur STL files (Fig.1). For that MRI scans of 50 normal knees from osteoarthritis initiative (OAI) study were used. Mimics and 3-matic software (Materialise) packages were used for segmentation and analysis of 3D models. Spheres were fitted to the medial and lateral flexion facets for both average knee model and patient knee model. The average knee was rescaled and registered in order to match flexion facet axis (FFA) distance and FFA midpoint of the patient (Fig.2). The difference between the patient surface and the average knee surface allow to plan the patella groove alteration. The Patella cut is planned parallel to the plane fitted to the anterior surface of the patella. The patella width/thickness ratio (W/T=2) is used to predict the post reconstruction thickness3. The position of the patella component (and its orientation if a component with a median ridge is used) is also planned. The plan is next fine-tuned to achieve satisfactory PFJ kinematics4 (Fig.3). This will be complemented by intraoperative PFJ tracking which assists with soft tissue releases. PFJ kinematics is evaluated in terms of patella shift, tilt and deviation from the previously described circular path of the centre of the patella. The effect of preoperative planning on PFJ tracking and soft tissue releases is being examined. Additional study is needed to evaluate whether planning and intraoperative kinematic measurements improve the clinical outcome of PFJ arthroplasty.
The trochlea of a typical patellofemoral replacement or anterior flange of a total knee replacement usually extends past the natural trochlea and continues onto the femoral anterior cortex. One reason for this is that it allows a simple patella button to be permanently engaged in the trochlea groove in an attempt to ensure stability. On the natural patella, the apex helps to guide it into the trochlea groove as the knee moves from full extension into flexion. The aim is to study whether a generalised patella can be created that is close in form to a healthy patella. MRI scans were taken of 30 patellae. Characteristics of these patellae (height, width, thickness, apex angle) were measured. The apex angle was found to be similar between patellae (mean=126 degrees, sd = 8.8), as were the ratios between height and width (mean width/height = 1.05, sd = 0.07) and between thickness and width (mean width/thickness = 1.8, sd = 0.19). These patellae were then segmented to create a surface including cartilage, resulting in 30 STL (stereolithography) files in which the surfaces are represented by triangle meshes. To design the average patella the individual patellae were aligned to a standard frame of reference by placing a set of landmarks on the proximal/distal, medial/lateral and anterior/posterior extents of each (fig.1). The vertical axis was defined as passing parallel to the proximal/distal points and the horizontal as passing parallel to the medial/lateral points when looking along the computed vertical axis. The origin centre of the frame of reference was chosen to be mid-way between these points. The mean width was then computed and each patella scaled linearly around the origin to give them all equal width. All the aligned patellae were then averaged together to provide a composite cartilaginous patella. The averaging process was achieved by taking one patella as a seed. The patella chosen for seed was that whose parameters were closest to the average width, height and thickness. An approximately normal vector was passed a point ‘P’ on the seeds, and the points at which these intersected the other models were then determined. The closest intersection point to ‘P’ on each model was chosen and these averaged together. ‘P’ is then replaced in the model with this average point. The averaging process then continues with all the remaining points on the seed model in the same manner to build the average models.Introduction
Method
Patient Specific Instrumentation (PSI) has the potential to allow surgeons to perform procedures more accurately, at lower cost and faster than conventional instrumentation. However, studies using PSI have failed to convincingly demonstrate any of these benefits clinically. The influence of guide design on the accuracy of placement of PSI has received no attention within the literature. Our experience has suggested that surgeons gain greater benefit from PSI when undertaking procedures they are less familiar with. Lateral unicompartmental knee replacement (UKR) is relatively infrequently performed and may be an example of an operation for which PSI would be of benefit. We aimed to investigate the impact on accuracy of PSI with respect to the area of contact, the nature of the contact (smooth or studded guide surfaces) and the effect of increasing the number of contact points in different planes. A standard anatomy tibial Sawbone was selected for use in the study and a computed tomography scan obtained to facilitate the production of PSI. Nylon PSI guides were printed on the basis of a lateral UKR plan devised by an orthopaedic surgeon. A control PSI guide with similar dimensions to the cutting block of the Oxford Phase 3 UKR tibial guide was produced, contoured to the anterior tibial surface with multiple studs on the tibial contact surface. Variants of this guide were designed to assess the impact of design features on accuracy. These were: a studded guide with a 40% reduction in tibial contact area, a non-studded version of the control guide, the control guide with a shim to provide articular contact, a guide with an extension to allow distal referencing at the ankle and a guide with a distal extension and an articular shim. All guides were designed with an appendage that facilitated direct attachment to a navigation machine (figure 1). 36 volunteers were asked to place each guide on the tibia with reference to a 3D model of the operative plan. The order of placement was varied using a counterbalanced latin square design to limit the impact of the learning effect. The navigation machine recorded deviations from the plan in respect of proximal-distal and medial-lateral translations as well as rotation around all three axes. Statistical analysis was performed on the compound translational and rotational errors for each guide using ANOVA with Bonferroni correction with statistical significance at p<0.05.Introduction
Method
We report 10-year clinical outcomes of a prospective randomised controlled study on uni-compartmental knee arthroplasty using an active constraint robot. Measuring the clinical impact of CAOS systems has generally been based around surrogate radiological measures with currently few long-term functional follow-up studies reported. We present 10 year clinical follow up results of robotic vs conventional surgery in UKA. The initial study took place in 2004 and included 28 patients, 13 in the robotic arm and 15 in the conventional arm. All patients underwent medial compartment UKA using the ‘OXFORD’ mobile bearing knee system. Clinical outcome at 10 years was scored using the WOMAC scoring system.Introduction
Material and methods
Large heads offer substantial advantages over small ones in hip arthroplasty, as they are far less likely to dislocate. This feature is of particular benefit in very dysplastic females who often have a degree of joint laxity making dislocation a real possibility. Large metal heads have a range of problems, so registries report that they are now being substituted by large ceramic heads, typically reducing in diameter by 15% or more from the native size. All current designs of the femoral ball heads, whether for resurfacing of replacement share a unique design characteristic: a subtended angle of 120° defining the proportion of a sphere that the head represents. A novel design has recently been proposed that might reduce conflict between the femoral ball head rim and the iliopsoas tendon. This paper explains the problem of iliopsoas impingement on femoral heads of native diameter, and the consequences. Using MRI, we measured the contact area of the Iliopsoas tendon on the femoral head in sagittal reconstruction of 20 hips with symptoms of FAI. We also measured the Articular extent of the femoral head on 40 normal hips and 10 dysplastic hips. We then performed virtual hip resurfacing on normal and dysplastic type hips, attempting to avoid the overhang of the rim inferomedially. The contact area of the Iliopsoas tendon on the femoral head in extension is well visualized (Figure 1). The femoral head articular surface has a subtended angle of 120° anteriorly and posteriorly, but only of 100° medially. Virtual surgery in a femoral head of a dysplastic hip showed that when the femoral head is resurfaced with an anatomic sized component, the femoral ball head has a 20° skirt of metal protruding medially where iliopsoas articulates (figure 2). Reducing this by 15%, (eg to put a 40mm ball head onto a hip that had a 46mm femoral diameter), completely avoids any chance of iliopsoas tendon using the femoral head as a fulcrum. MRI of a dysplastic hip with a 40mm ball shows that iliopsoas impingement is hard to substantiate (figure 3).Material and Methods
Results
Outcome measures are an essential element of our industry: comparing a novel procedure against an established one requires a reliable set of metrics that are comprehensible to both the technologist and the layman. We surmised that a detailed assessment of function before and after knee arthroplasty, combined with a detailed set of personal goals would enable us to test the hypothesis that less invasive joint and ligament preserving operations could be demonstrated to be more successful, and cost effective. We asked the simple question: how well can people walk following arthroplasty, and can we measure this? Using a treadmill, instrumented with force plates, we developed a regime of walking at increasing speeds and on varying inclines, both up and down hill. The data from the force plates was then extracted directly, without using the proprietary software that filtered it. Code was written in matlab script to ensure that missed steps were not mistakenly attributed to the wrong leg, automatically downloading of all the gait data at all speeds and inclines. The pattern of gait of both legs could then be compared over a range of activities. Wide variation is seen in gait both before and after arthroplasty. The variables that are easiest to explain are these:
width of gait – this appears to be a pre-morbid variable, not easily correctible with surgery. (figure 1) top walking speed – total knee replacement is associated with 11% lower top speeds than uni knees or normals (p < 0.05) change in stride length with increasing speed: normal people increase their walking speed by increasing both their cadence and their stride length incrementally until a top stride length is reached. Patients with a total knee replacement do not increase their stride length at a normal rate, having to rely on increasing cadence to deliver speed increase. Patients with uni or bi-compartmental knee replacements increase speed like normal people. Downhill gait: as many as 40% of fit patients with ‘well functioning’ total knee replacements choose not to walk downhill at all, while all fit patients with ‘well functioning’ partial replacements are able to do this. Those who can manage, can only manage 90% of the normal speed, unlike unis which are indistinguishable from normal (p < 0.05)Materials and methods
Results
The 3D shape of the normal proximal femur is poorly described in current designs of proximal femur prosthesis. Research has shown that in current implant designs with small diameter femoral heads the moment arm of the ilio-psoas tendon is reduced causing weakness in full extension, while large femoral heads cause psoas tendon impingement on the femoral head neck junction [1]. The femoral head-neck junction thus directly influences the hip flexor muscles' moment arm. Mathematical modeling of proximal femoral geometry allowed a novel proximal femur prosthesis to be developed that takes into account native anatomical parameters. We hypothesized that it is possible to fit a quadratic surface (e.g. sphere, cylinder…) or combinations of them on different bone surfaces with a relatively good fit. Forty six ‘normal’ hips with no known hip pathology were segmented from CT data. Previous research has shown the femoral head to have a spherical shape [2], the focus here was therefore mainly on the neck. The custom-written minimization algorithm, using least squares approximation methods, was used to optimize the position and characteristics of the quadratic surface so that the sum of distances between a set of points on the femoral neck and the quadratic surface was minimized. Furthermore, to improve upon current design regarding the transition between head and the neck, we recorded the position of the head neck articular margin in addition the slope of the transition from head to neck in the above 46 hips.INTRODUCTION:
METHODS:
Varus alignment of the knee is common in patients undergoing unicondylar knee replacement. To 56 patients (31 varus, 25 normal) were evaluated through CT imaging. Images were segmented to create 3D models and aligned to a tri-spherical plane (centres of spheres fitted to the femoral head and the medial and lateral flexion facets). 30 key co-ordinates were recorded per specimen to define the important axes, angles and shapes (e.g. spheres to define flexion and extension facet surfaces) that describe the femoral condylar geometry using in-house software. The points were then projected in sagittal, coronal and transverse planes. Standardised distance and angular measurements were then carried out between the points and the differences between the morphology of normal and varus knee summarised. For the varus knee group, trends were investigated that could be related to the magnitude of varus deformity.Introduction:
Methodology:
Cam type femoroacetabular impingement (FAI) may lead to osteoarthritis (OA)[1]. In 2D studies, an alpha angle greater than 55° was considered abnormal however limitations of 2D alpha angle measurement have led to the development of 3D methods [2–4]. Failure to completely address the bony impingement lesions during surgery has been the most common reason for unsuccessful hip arthroscopy surgery [5]. Robotic technology has facilitated more accurate surgery in comparison to the conventional means. In this study we aim to assess the potential application of robotic technology in dealing with this technically challenging procedure of cam sculpting surgery. CT scans of three patients' hips with severe cam deformity (A, B and C models) were obtained and used to construct 3D dry bone models. A 3D surgical plan was made in custom written software. Each 3D plan was imported into the Acrobot Sculptor robot and bone resection was carried out. In total, 42 femoral models were sculpted (14/subset), thirty of which were performed by a single operator and the remaining 12 femurs were resected by two other operators. CT of the pre/post resected specimens was segmented and a 3D alpha angle and head neck ratios were measured [3–4] and compared using Mann-Whitney U test. Coefficient of variation (CV) was used to determine the degree of variation between the mean and maximum observed alpha angles for inter and intra observer repeatability.Introduction:
Methods:
Surgeons need to be able to measure angles and distances in three dimensions in the planning and assessment of knee replacement. Computed tomography (CT) offers the accuracy needed but involves greater radiation exposure to patients than traditional long-leg standing radiographs, which give very little information outside the plane of the image. There is considerable variation in CT radiation doses between research centres, scanning protocols and individual scanners, and ethics committees are rightly demanding more consistency in this area. By refining the CT scanning protocol we have reduced the effective radiation dose received by the patient down to the equivalent of one long-leg standing radiograph. Because of this, it will be more acceptable to obtain the three-dimensional data set produced by CT scanning. Surgeons will be able to document the impact of implant position on outcome with greater precision.
