Active robotics for total knee Arthroplasty (TKA) uses a CAD-CAM approach to plan the correct size and placement of implants and to surgically achieve planned limb alignment. The TSolution One Total Knee Application (THINK Surgical Inc., Fremont, CA) is an open-implant platform, CT-based active robotic surgical system. A multi-center, prospective, non-randomized clinical trial was performed to evaluate safety and effectiveness of robotic-assisted TKA using the TSolution One Total Knee Application. This report details the findings from the IDE. Patients had to be ≥ 21 years old with BMI ≤ 40, Kellgren-Lawrence Grade ≥ 3, coronal deformity ≤ 20°, and sagital flexion contracture ≤ 15° to participate. In addition to monitoring all adverse events (AE), a pre-defined list of relevant major AEs (medial collateral ligament injury, extensor mechanism disruption, neural deficit, periprosthetic fracture, patellofemoral dislocation, tibiofemoral dislocation, vascular injury) were specifically identified to evaluate safety. Bleeding complications were also assessed. Malalignment rate, defined as the percentage of patients with more than a ± 3° difference in varus-valgus alignment from the preoperative plan, was used to determine accuracy of the active robotic system. Knee Society Scores (KSS) and Short Form 12 (SF-12) Health Surveys were assessed as clinical outcome measures. Results were compared to published values associated with manual TKA.Introduction
Methods
Total hip arthroplasty has seen a transition from cemented acetabular components to press-fit porous coated components. Plasma sprayed titanium implants are often press-fit with 1mm under-reaming of the acetabulum; however, as porous coating technologies evolve, the amount of under-reaming required for initial stability may be reduced. This reduction may improve implant seating due to lowered insertion loads, and reduce the risk of intraoperative fracture. The purpose of this study was to investigate the initial fixation provided by a high porosity coating (P2, DJO Surgical), and a plasma sprayed titanium coating under rim loading with line-to-line and 1mm press-fit surgical preparation. Five, 52mm high porosity acetabular cups (60% average porosity) and five 52mm plasma sprayed titanium coated cups were inserted into low density (0.24g/cc) biomechanical test foam (Pacific Research Laboratories). Foam test material was cut into uniform 90×90×40mm blocks. Reaming was performed using standard instrumentation mounted on a vertical mill. Cups were first inserted into foam blocks prepared with line-to-line (52mm) reaming. Following mechanical testing, cups were removed from the foam, cleaned, and inserted into foam blocks prepared with 1mm under reaming (51mm). In total 4 test conditions were evaluated:
Acetabular cup impaction was carried out using a single axis servohydraulic test machine (Instron 8500). Cups were inserted at 1mm/s to a load of 5kN. Insertion load was calculated as a 0.1mm offset from the linear portion of the force/displacement curve; insertion energy was the area under the curve. Tangential rim loading was applied at 0.0254mm/s by a conical indenter to the implant rim. Load data were recorded at 1kHz. Cup displacement was recorded by a 3D, marker-based tracking system at 15Hz (DMAS, Spicatek). Six markers were attached to a disk secured in the acetabular cup (Figure 1). Yield failure was defined as 0.331o of angular displacement (150µm of relative displacement). Angular displacement was derived by calculating the normal vector of a best-fit plane based on marker centroids.Introduction
Methods
Bone loss is a challenging reconstructive problem in revision total knee arthroplasty (TKA). Uncemented porous tantalum modular components are designed to act as substitutes for allograft bone in complex revision TKA with significant bone defects. A consecutive series of 23 revision TKAs performed by a single surgeon were reviewed at a minimum two-years following implantation. In all cases bone loss was assessed using the Anderson Orthopaedic Research Institute System, and porous tantalum components were used to augment the reconstructions when bone loss was encountered. Twenty-one patients had 23 procedures (2 bilateral) requiring the use of porous tantalum following 18 cases of aseptic loosening, 4 cases of staged re-implantation for infection, and 1 case of a periprosthetic patellar fracture and aseptic loosening. Structural bone graft was not used during this time period. Porous tantalum uses include: 20 distal and posterior femoral augments; 2 femoral cones; 8 patellar augments; and 18 tibial cones. 20 cases required augmentation in more than one area, and one case involved an extensor mechanism allograft. There were 2 cases of recurrent sepsis requiring removal of well-fixed tantalum components. At an average 37 months (24 to 73) no patients were lost to follow-up. Clinical follow-up in the remaining 21 cases showed reconstructions were functioning well with no revisions. Radiographic imaging showed re-establishment of the joint line, neutral mechanical axis, and signs of stable fixation of the augments. There were no cases of radiographic or clinical loosening at the most recent follow-up. Short term results with the use of porous tantalum augments and cones for bone loss in revision TKA demonstrate the versatile, and durable nature of these new reconstructive tools, at early follow-up.
A fluoroscopic based computer enhancement system was designed for accurate insertion of guide wires for hip fracture fixation while decreasing fluoroscopy time. A saw bone model was created. The femur was imaged with fluoroscopy and a three-dimensional computer model was created. The femur, fluoroscopy drum, and drill were tracked with an optical tracking device. Guide wire position was planned on the computer model. Using a tracked drill the guide wire was inserted. The number of fluoroscopic images was decreased by 85% and the number of passes required to place the guide wire in acceptable position was decreased by 60% using computer enhanced technique. A fluoroscopic based computer enhancement system was designed for accurate insertion of guide wires for hip fracture fixation while decreasing fluoroscopy time. The number of fluoroscopic images and passes required to place the guide wire in acceptable position were decreased using computer enhanced technique. Final guide wire position was not different between the two groups. Orthopedic surgeons are exposed to radiation from fluoroscopy on a daily basis. This system allowed us to insert guide wires using substantially less fluoroscopy, without compromising accuracy. An average of 13.5 images were taken for each standard technique trial compared to two images for each computer enhanced trial, representing a reduction in fluoroscopy of 85%. One pass was used for each computer enhanced trial. An average of 2.4 trials was used for standard technique. Average final error was 3.6mm using standard technique and 3.8mm using computer technique. A saw bone model with a soft tissue sleeve was created. A DRB (dynamic referencing body) was fixed to the femur. The DRB, fluoroscopy drum, and drill were tracked with an optical tracking device. The system created a 3D model from two orthogonal fluoroscopic images. Guide wire position was then planned on the computer model. Using a tracked drill the guide wire was inserted. Computer enhanced trials were compared to standard techniques in regards to number of fluoroscopic images taken, number of trials to obtain acceptable guide wire position, and accuracy of guide wire placement. Guide wire position was measured on AP and lateral x-rays.
Two computer assisted techniques (CT and a fluoro-guide based system) were used to insert the femoral component of the Oxford Unicompartmental Knee arthroplasty. The accuracy and variability of component positioning were compared. Clinical data was collected pre-operatively and is being collected post-operatively. Standing AP and lateral knee X-rays as well as skyline X-rays were collected pre-operatively and post-operative full length AP and lateral femur X-rays were completed in order to measure alignment of the femoral component. Results are showing accurate insertions of the Oxford knee femoral component using both systems. To review two computer-assisted techniques for inserting Oxford Unicompartmental Knee arthroplasties. CT based and fluro based techniques were compared with regards to accuracy and variability of component positioning. Currently we are able to use either a CT based system or a fluro based system to accurately insert the femoral component of the Oxford Unicompartmental Knee arthroplasty. Computer assist techniques are allowing us to perform minimally invasive arthroplasty procedures with great accuracy. Patients were all seen in a pre-admission clinic where pre-operative clinical survey data were collected. All patients had standing AP and lateral knee X-rays as well as skyline X-rays pre-operatively. Post-perative full length AP and lateral femur X-rays were completed in order to measure alignment of the femoral component. Patients are being followed post-operatively with SF-36, WOMAC, Knee Society Scores, and X-rays. Patients being operated on with the CT based system had pre operative CT scans. Intra-operatively a DRB was fixed to the patient’s femur and the chosen computer assisted technique was used to direct the rotation of the tibial cut as well as the alignment of the femoral cutting jig. To date we have completed seventeen computer assisted Oxford Unicompartmental Knee Arthroplasties. The average error in the AP plane using CT based system was 3.2 degrees and 2.1 degrees for the lateral plane. The average error in the AP plane using the fluro-based system was 2.2 degrees and 1.3 degree for the lateral plane.
Two computer assisted techniques (CT and a fluoro-guide based system) were used to insert the femoral component of the Oxford Unicompartmental Knee arthroplasty. The accuracy and variability of component positioning were compared. Clinical data was collected pre-operatively and is being collected post-operatively. Standing AP and lateral knee X-rays as well as skyline X-rays were collected pre-operatively and post-operative full length AP and lateral femur X-rays were completed in order to measure alignment of the femoral component. Results are showing accurate insertions of the Oxford knee femoral component using both systems. To review two computer-assisted techniques for inserting Oxford Unicompartmental Knee arthroplasties. CT based and fluro based techniques were compared with regards to accuracy and variability of component positioning. Currently we are able to use either a CT based system or a fluro based system to accurately insert the femoral component of the Oxford Unicompartmental Knee arthroplasty. Computer assist techniques are allowing us to perform minimally invasive arthroplasty procedures with great accuracy. Patients were all seen in a pre-admission clinic where pre-operative clinical survey data were collected. All patients had standing AP and lateral knee X-rays as well as skyline X-rays pre-operatively. Post-perative full length AP and lateral femur X-rays were completed in order to measure alignment of the femoral component. Patients are being followed post-operatively with SF-36, WOMAC, Knee Society Scores, and X-rays. Patients being operated on with the CT based system had pre operative CT scans. Intra-operatively a DRB was fixed to the patient’s femur and the chosen computer assisted technique was used to direct the rotation of the tibial cut as well as the alignment of the femoral cutting jig. To date we have completed seventeen computer assisted Oxford Unicompartmental Knee Arthroplasties. The average error in the AP plane using CT based system was 3.2 degrees and 2.1 degrees for the lateral plane. The average error in the AP plane using the fluro-based system was 2.2 degrees and 1.3 degree for the lateral plane.
Periacetabular osteotomy provides a joint preserving option for the treatment of acetabular dysplasia but is generally considered technically demanding, which has limited its widespread application. This study evaluates a new computer enhanced technique for a trans-trochanteric periacetabular osteotomy. This multi-use computer interface designed and used at Kingston General Hospital and Queen’s University has been previously and successfully used in many different types of surgical procedures. Interim results show few complications and accurate guidance. To develop a new periacetabular osteotomy technique that can be performed safely and reliably using computer-enhanced technology. This technique has enabled us to perform periacetabular osteotomies with few complications and increased accuracy of component alignment and sizing. Using this computer-enhanced technique, periacetabular osteotomy may become a more common procedure in the practice of hip reconstruction. Candidates include adults with symptomatic acetabular dysplasia. Pre-operative radiographs and CT scans are obtained. The scan is digitized to create a 3D model used for osteotomy planning. A trans-trochanteric approach is used to the acetabulum. An intra-operative plan is followed for osteotomy cuts. Fixation is achieved with two pelvic reconstruction plates. Peri-operative data on correction, complications and clinical data (WOMAC and SF36), and xrays and one year 3D CT scans are collected prospectively. This procedure has been performed on eighteen patients with an average centre edge angle correction of ninteen degrees. The computer guidance system has given accurate information in all but one case, which was successfully completed with limited guidance. No cases of intra-articular or posterior column fractures, nerve injury or AVN have occurred. Two cases of trochanteric pull-off were revised without complication. One case of delayed union of the pubic rami osteotomy was bone grafted and subsequently healed. One case of radiographic, but not clinical heterotropic ossification occurred in a patient with contraindications to prophylaxis. This new technique provides a reliable and reproducible option for acetabular correction with low complication rates.
