Percutaneous fixation of scaphoid fractures has become popular in recent years, mainly due to its reduced complexity compared to open surgical approaches. Fluoroscopy is currently used as guidance for this percutaneous approach, however, as a projective imaging modality, it provides only a 2D view of the complex 3D anatomy of the wrist during surgery, and exposes both patient and physician to harmful X-ray radiation. To avoid these drawbacks, 3D ultrasound has been suggested to provide imaging for guidance as a widely available, real-time, radiation-free and low-cost modality. However, the blurred, disconnected, weak and noisy bone responses render interpretation of the US data difficult so far. In this work, we present the integration of 3D ultrasound with a statistical wrist model to allow development of an improved ultrasound-based guidance procedure. For enhancement of bone responses in ultrasound, a phase symmetry based approach is used to exploit the symmetry of the ultrasound signal around the expected bone location. We propose an improved estimation of the local phase symmetry by using the local spectrum variation of the ultrasound image. The statistical wrist model is developed through a group-wise registration based framework in order to capture the major modes of shape and pose variations across 30 subjects at different wrist positions. Finally, the statistical wrist model is registered to the enhanced ultrasound bone surfaces using a probabilistic registration approach. Feasibility experiments are performed using two volunteer wrists, and the results are promising and warrant further development and validation to enable ultrasound guided percutaneous scaphoid fracture reduction.

Primary internal fixation of uncomplicated scaphoid fractures is growing in popularity due to its advantages over conventional cast fixation. Performing the procedure percutaneously reduces the risk of infection and soft tissue damage, but can be tricky because of the small size and complex three-dimensional (3D) shape of this bone. Computer-assisted navigation has been an invaluable tool in other pin insertion procedures.

This in-vitro study aimed to evaluate two different rendering techniques for our navigation interface: (i) 3D volume rendering of the CBCT image to show digitally-reconstructed radiographs of the anatomy, and (ii) volume-slicing, analogous to CT-images.

As the shape of the scaphoid is highly variable, a plastic model of the wrist was constructed in order to provide consistency that would not be possible in a cadaver-based study. The plastic model featured a removable scaphoid such that a new one was replaced between trials. Three surgeons each performed eight trials using each of the two navigated techniques (yielding a total of 48 trials for analysis). Central placement of scaphoid fixation has been linked with mechanical stability and improved clinical outcomes, thus the surgical goal was to place a K-wire to maximise both depth from the surface and length of the drill path. The wire was drilled through the scaphoid, from distal to proximal, allowing for post-trial analysis of the drill path. A ceiling-mounted OptoTrak Certus camera (Northern Digital Inc., Canada) and a floor-mounted isocentric 3D CBCT C-arm (Innova 4100, GE Healthcare, France) permitted a registration transformation between the tracking and imaging systems to be computed preoperatively, before each trial, using a custom calibration device. Optical local coordinate reference bodies were attached to the wrist model and a custom drill guide for tracking with the Certus camera. During each trial, a 3D spin image of the wrist model was acquired, and rendered according to the technique under study.

For 3D volume rendering, the spin image was rendered as a digitally-reconstructed radiograph (DRR) that could be rotated in three dimensions. In the planning phase, the surgeon positioned a desired drill path on the images. Anterior-posterior and lateral views of the 3D volume rendering were used for navigation during the drilling phase. The real-time orientation of the drill guide was shown relative to these images and the plan on an overhead.

For volume-sliced (VS) navigation, the spin image was volume-rendered and sliced along the principal planes (axial, coronal, sagittal) for planning. A slider interface allowed the surgeon to scroll through the slices in each of the planes, as if they were looking at individual CT slices. Once the desired drill path was positioned, the volume-sliced views were reconfigured to show slices along the oblique planes of the planned path for navigation.

Following all trials, model scaphoids with wire intact were imaged using CT with a slice thickness of 0.625 mm. The CT series were segmented and used to construct 3D digital models of the wire and drilled scaphoid. Algorithms were developed to determine the minimum distance from the centerline of the wire and the scaphoid surface, and to compute the length of the drill path. Screw breach should be avoided as it disrupts the articular surface and may lead to a sequela of cartilage deterioration and osteoarthritic changes. The shortest distance measure was extrapolated to assess whether a standard fixation screw (Accutrak Mini, 1.78 mm radius) would have breached the scaphoid surface. There were three screw breaches noted in the 3D DRR trials, while only one occurred using volume-slicing. The minimum distance from the centerline of the wire to the scaphoid surface can also be thought of as a “safe zone” for screw breach. Although no difference in the mean distance (μ) was noted between groups (μ_DRR = 2.3 mm, μ_VS = 2.2 mm), the standard deviation (σ) was significantly higher for the DRR trials (σ_DRR = 0.50 mm, σ_VS = 0.37 mm, p < 0.1), suggesting a higher reliability of central placement using VS for navigation. In contrast, the length of the drill paths were significantly longer for the DRR trials (μ = 28.7 mm, σ = 0.66 mm) than for VS-navigation (μ = 28.3 mm, σ = 0.62 mm) at p < 0.1.

The surgical goal was to pick a path that maximised both the length of the path, as well as the minimum distance from the scaphoid surface. Algorithms were developed to find the paths that would maximise: (i) the length and (ii) the distance from the surface of the model scaphoid used in this study. The maximum possible length was 29.8mm (with a minimum distance of 2.2mm from the scaphoid surface), and the maximum distance was 3.3mm (with a length of 27.5mm). Therefore, the set of optimal drill paths had length > 27.5 mm, and distance > 2.8 mm. Of the DRR-navigated trials, 11 were below the minimum optimal depth, and only one trial was below the optimal length; 13 of the 24 trials (54%) were of both optimal length and depth. Of the VS-navigated trials, nine were below the minimal optimal distance, and four were below the minimum optimal length; 11 out of 24 trials (46%) were within both the optimal length and depth.

From this comparative study, we conclude that VS-navigation was superior in locating a central location for the fixation wire, while DRRs were superior in maximising the depth of the drill path. Thus, we propose a hybrid interface, incorporating both volume-slicing and DRRs, in order to maximise the effectiveness of navigation for percutaneous scaphoid pinning.

Femoroacetabular impingement is a condition in which the femoral head/neck region abnormally contacts the acetabulum, limiting the range of motion of the hip and often associated with pain, damage, and loss of function. The pathophysiology of osteoarthritic changes stemming from impingement syndromes has been linked to the shape of the hip; however, little is known about the influence of the soft tissues to this process.

In this pilot study, we used computer-assisted navigation technology to track motion on a cadaver that had mild bilateral cam-impingement lesions, and then performed a virtual simulation to locate sites of impingement. We hypothesised that soft tissues contribute to the degree and location of impingement, so we compared impingements across three different dissection states: (i) all soft tissues intact; (ii) post-capsulectomy; with only the labrum and ligamentum teres remaining; and (iii) disarticulated, with labrum and ligamentum teres removed.

With ethical approval, we used one fresh frozen cadaver pelvis that was sectioned above the fifth lumbar vertebra and at the knee. The femurs and pelvis were implanted with fiducial screws as an accurate means for surface-based image registration. With all soft tissues intact, tissues were imaged using computed tomography with a slice thickness of 0.625 mm. The CT scans were imported into Mimics (v13.0, Materialise, Belgium) and carefully segmented, with particular detail to the articular regions and fiducials, to create 3D digital models of the pelvis and femurs.

On each side, optical local coordinate reference (LCR) bodies were attached at the proximal femur and iliac crest to permit spatial tracking with an Optotrak Certus camera (Northern Digital Inc., Waterloo, Canada). The 3D digital models were imported into the VSS navigation system (iGO Technologies, Kingston, Canada) and scrupulously registered to the anatomy using the fiducial screws and a calibrated probe. The pose of the femur and pelvis were recorded throughout a series of twelve movements involving various combinations of flexion-extension, abduction-adduction, internal-external rotation and circumduction, as well as functional movements typical of a clinical hip screening. Soft tissues were selectively removed and the movements were repeated post-capsulectomy and completely disarticulated.

The recorded pose data were applied to the 3D digital models to perform a computational simulation of the movements during the trials. The pose data were expressed in coordinates of the anterior pelvic plane to compute angles of motion in the principal directions (flexion, abduction, rotation). The motion data were further filtered so that only comparable ranges of motion were present for data analysis. Algorithms were developed to determine bone-on-bone impingement locations by finding contact points between the models.

Impingement locations were plotted on the digital models of the femur and pelvis in order to establish zones of impingement. The surface area of each impingement zone was computed by using a Crust-based algorithm that triangulated impingement points encompassing a region, and then summed the surface area of each triangle to estimate the total impingement surface area.

Upon visual inspection, it was immediately apparent that impingements tended to occur in well-defined regions. On the femur, these were found along aspects of the head-neck junction, especially on or near osteophytes. On the pelvis, impingement regions were found along the acetabular rim and extending into the lunate region.

With soft tissues intact, both femurs and pelvis had prominent anterior and posterior impingement zones. In contrast, post-capsulectomy impingement zones were predominately confined to the anterior region. It should be noted, however, that the total impingement area decreased post-capsulectomy, representing only about 25% of the total area of impingements when all soft tissues were intact. This was also true in the disarticulated state.

Both femurs had mild posterior cam lesions, the right worse than the left. Impingements were seen at these sites with soft tissues intact, but diminished almost entirely post-capsulectomy. The anterior lesions were located contra coup to these cam lesions.

With soft tissues intact, impingements tended to occur in external rotation and abduction. With soft tissues removed there was a pronounced shift towards impingements occurring in internal rotation. Impingements were also noted in large flexion angles and large abduction-adduction angles in the absence of soft tissues.

Although it is widely accepted that the hip is spherical in shape and has ball-and-socket kinematics, recent work suggests that the osteoarthritic hip is aspherical and that translational motion is present. On a very limited series, this work is supportive of the latter observation: if hip motion is purely spherical, a decrease in impingements post-capsulectomy is exceedingly hard to describe. However, if soft tissues cause translatory motion, then their absence logically should lead to a change in the impingement pattern (which we found).

This preliminary study provides a methodology for studying the effects of soft tissue on impingements. We conclude that soft tissues do indeed play an important role in impingement and may even contribute to the development of impingement lesions. Limitations include a small sample size, so further studies are required prior to conclusively establishing impingement patterns in passive kinematics of cadaver hips.