Computer-assisted Orthopaedic Surgery Research Articles

Experience of use of the individual cutting block «5 in 1» using total knee arthroplasty

BACKGROUND: Total knee arthroplasty is the most progressively developing direction in the modern orthopaedic world. With the new visualization technologies, a whole new field of computer-assisted orthopaedic surgery has emerged. Generally, three groups can be distinguished in computer-assisted orthopedic surgery. The 1st group the use of individual resection blocks, templates or guides remains the most relevant today. However, the use of currently existing individual resection blocks, according to the literature, has contradictory results.
 CLINICAL CASES DESCRIPTION: This work presents the author's developed technique of a new preoperative 3D modeling for total knee arthroplasty using individual resection blocks. The paper presents a clinical case demonstrating the effectiveness of the new technique.
 CONCLUSION: The strategy CT+MRI, in our opinion, is the optimal solution not only for competent preoperative planning of total knee arthroplasty, but also for designing individual resection blocks. Our individual resection blocks allowed us to improve the accuracy of total knee arthroplasty.

Progress in clinical application of computer-assisted orthopedic surgery

ABSTRACT With the rapid development of computer technology, new materials, 5G communication, artificial intelligence and robot technology, computer-assisted orthopaedic surgery (CAOS) technology has obtained an unprecedented opportunity for development, which has greatly promoted the personalized, accurate and minimally invasive process of orthopedic surgery. Compared with traditional orthopedic surgery, CAOS has significant advantages in implementing accurate surgery, shortening operation time, reducing patient trauma and reducing intraoperative X-ray radiation exposure. However, with the increasing medical needs of patients and the increasing medical costs, the technology of computer-assisted orthopedic surgery still needs to be improved. This paper mainly summarizes the current situation of clinical application of computer-assisted orthopedic surgery, focusing on following four aspects: broken bone splicing and restoration technology, 3D printing guide plate assisted orthopedic surgery, computer-assisted navigation in orthopedic surgery and orthopedic surgery robot technology. At the same time, the problems and difficulties existing in CAOS are discussed, and the author's own views on the future development of computer-assisted orthopedic surgery are put forward.

3-D Rigid Point Set Registration for Computer-Assisted Orthopedic Surgery (CAOS): A Review From the Algorithmic Perspective

Registration is an important problem in computerassisted orthopedic surgery (CAOS). As one typical example, the pre-operative space where the patient-specific surgical plan is usually made needs to be accurately aligned with the patient space where the surgical procedures are conducted. The registration task still attracts a lot of research efforts, partially because establishing the point correspondences between two point sets (PSs) under noise, outliers and partial overlapping is a non-trivial problem. More specifically, in CAOS, (a) the intraoperative points only cover a small partial region of the preoperative whole model; (b) the acquired intra-operative points are usually noisy and contains outliers. To facilitate the related researchers to quickly know both the classical and state-of-theart rigid point set registration (RPSR) methods, we present a concise review about related rigid registration methods in CAOS in this paper. The contributions of this paper include: (1) we review the RPSR methods that are suitable for or very related to the CAOS application; (2) the surveyed registration algorithms’ advantages and disadvantages are discussed and compared; (3) potential future research directions are also discussed.

Gap Balancing Throughout the Arc of Motion With Navigated TKA and a Novel Force-Controlled Distractor: A Review of the First 273 Cases

BackgroundThis study evaluated the ability to achieve the targeted soft-tissue balance in terms of medio-lateral (ML) laxity and gap values when using a computer-assisted orthopedic surgery (CAOS) system featuring an intra-articular force-controlled distractor and assessed learning curves associated with the adoption of this technology. MethodsThe first 273 cases using this technology were reported without exclusions comparing 1) final ML laxity and 2) final average gap to their predefined targets. For both parameters, the signed and unsigned differentials were reported. The linear mixed model was used to evaluate laxity curve differences between surgeons. A cumulative sum control chart (CUSUM) was applied to assess surgeon learning curves regarding surgical time. ResultsBoth the average signed ML laxity and gap differentials were neutral throughout the full arc of motion. Both the average unsigned ML laxity and gap differentials were linear. Signature of ML laxity and gap differential curves tended to be surgeon-specific. The CUSUM analyses of surgical times demonstrated either a short learning curve or the absence of a discernible learning pattern for surgeons. ConclusionData from all users involved with the pilot release of the balancing device were considered to capture variability in familiarity with the technique and learning curve cases were included. A high ability to achieve targeted gap balance throughout the arc of motion using the proposed method was observed.

Optimal definitions for computing HKA angle in caos: an in-vitro comparison study

The goal of this study was to assess and compare the precision and accuracy of nine and seven methods usually used in Computer Assisted Orthopedic Surgery (CAOS) to estimate respectively the Knee Center (KC) and the Frontal Plane (FP) for the determination of the HKA angle (HKAA). An in-vitro experiment has been realized on thirteen cadaveric lower limbs. A CAOS software application was developed and allowed the computation of the HKAA according to these nine KC and seven FP methods. The precision and the accuracy of the HKAA measurements were measured. The HKAA precision was highest when the FP is determined using the helical method. The HKAA accuracy was highest using the helical approach to determine the FP and either the notch or the tibial spines to determine the KC. This study shows that the helical approach to determine the FP and either the notch or the middle of tibia spines are the combinations that provide both a good enough accuracy and precision to estimate the HKA.

The Surgical Treatment of Osteoarthritis

Osteoarthritis is a degenerative condition affecting the whole joint with the underlying bone, representing a major source of pain, disability, and socioeconomic cost worldwide. Age is considered the strongest risk factor, albeit abnormal biomechanics, morphology, congenital abnormality, deformity, malalignment, limb-length discrepancy, lifestyle, and injury may further increase the risk of the development and progression of osteoarthritis as well. Pain and loss of function are the main clinical features that lead to treatment. Although early manifestations of osteoarthritis are amenable to lifestyle modification, adequate pain management, and physical therapy, disease advancement frequently requires surgical treatment. The symptomatic progression of osteoarthritis with radiographical confirmation can be addressed either with arthroscopic interventions, (joint) preservation techniques, or bone fusion procedures, whereas (joint) replacement is preferentially reserved for severe and end-stage disease. The surgical treatment aims at alleviating pain and disability while restoring native biomechanics. Miscellaneous surgical techniques for addressing osteoarthritis exist. Advanced computer-integrated surgical concepts allow for patient personalization and optimization of surgical treatment. The scope of this article is to present an overview of the fundamentals of conventional surgical treatment options for osteoarthritis of the human skeleton, with emphasis on arthroscopy, preservation, arthrodesis, and replacement. Contemporary computer-assisted orthopaedic surgery concepts are further elucidated.

Personalised statistical modelling of soft tissue structures in the ankle

Background and objectiveRevealing the complexity behind subject-specific ankle joint mechanics requires simultaneous analysis of three-dimensional bony and soft-tissue structures. 3D musculoskeletal models have become pivotal in orthopedic treatment planning and biomechanical research. Since manual segmentation of these models is time-consuming and subject to manual errors, (semi-) automatic methods could improve the accuracy and enlarge the sample size of personalised ‘in silico’ biomechanical experiments and computer-assisted treatment planning. Therefore, our aim was to automatically predict ligament paths, cartilage topography and thickness in the ankle joint based on statistical shape modelling. MethodsA personalised cartilage and ligamentous prediction algorithm was established using geometric morphometrics, based on an ‘in-house’ generated lower limb skeletal model (N = 542), tibiotalar cartilage (N = 60) and ankle ligament segmentations (N = 10). For cartilage, a population-averaged thickness map was determined by use of partial least-squares regression. Ligaments were wrapped around bony contours based on iterative shortest path calculation. Accuracy of ligament path and cartilage thickness prediction was quantified using leave-one-out experiments. The novel personalised thickness prediction was compared with a constant cartilage thickness of 1.50 mm by use of a paired sample T-test. ResultsMean distance error of cartilage and ligament prediction was 0.12 mm (SD 0.04 mm) and 0.54 mm (SD 0.05 mm), respectively. No significant differences were found between the personalised thickness cartilage and segmented cartilage of the tibia (p = 0.73, CI [-1.60 .10−17, 1.13 .10−17]) and talus (p = 0.95, CI[ -1.35 .10−17, 1.28 .10−17]). For the constant thickness cartilage, a statistically significant difference was found in 89% and 92% of the tibial (p < 0.001, CI [0.51, 0.58]) and talar (p < 0.001, CI [0.33, 0.40]) cartilage area. ConclusionsIn this study, we described a personalised prediction algorithm of cartilage and ligaments in the ankle joint. We were able to predict cartilage and main ankle ligaments with submillimeter accuracy. The proposed method has a high potential for generating large (virtual) sample sizes in biomechanical research and mitigates technological advances in computer-assisted orthopaedic surgery.

Head-Mounted Augmented Reality Platform for Markerless Orthopaedic Navigation.

Visual augmented reality (AR) has the potential to improve the accuracy, efficiency and reproducibility of computer-assisted orthopaedic surgery (CAOS). AR Head-mounted displays (HMDs) further allow non-eye-shift target observation and egocentric view. Recently, a markerless tracking and registration (MTR) algorithm was proposed to avoid the artificial markers that are conventionally pinned into the target anatomy for tracking, as their use prolongs surgical workflow, introduces human-induced errors, and necessitates additional surgical invasion in patients. However, such an MTR-based method has neither been explored for surgical applications nor integrated into current AR HMDs, making the ergonomic HMD-based markerless AR CAOS navigation hard to achieve. To these aims, we present a versatile, device-agnostic and accurate HMD-based AR platform. Our software platform, supporting both video see-through (VST) and optical see-through (OST) modes, integrates two proposed fast calibration procedures using a specially designed calibration tool. According to the camera-based evaluation, our AR platform achieves a display error of 6.31 ± 2.55 arcmin for VST and 7.72 ± 3.73 arcmin for OST. A proof-of-concept markerless surgical navigation system to assist in femoral bone drilling was then developed based on the platform and Microsoft HoloLens 1. According to the user study, both VST and OST markerless navigation systems are reliable, with the OST system providing the best usability. The measured navigation error is 4.90 ± 1.04 mm, 5.96 ± 2.22 ° for the VST system, and 4.36 ± 0.80 mm, 5.65 ± 1.42 ° for the OST system.

A Bibliometric Analysis of the Field of Computer-Assisted Orthopedic Surgery during 2002-2021.

This study aimed to investigate the characteristics of research articles and research trends in computer-assisted orthopedic surgery (CAOS) by conducting bibliometric analyses. CAOS-related research articles published in international journals from 2002 to 2021 were collected using the PubMed database and analyzed using the bibliometric method. Their publication year, journal name, corresponding author's country name, and the number of citations of all collected articles were noted. Contents of the articles were analyzed to evaluate the time point and anatomical site at which the digital technique was applied. Further, the 20-year period was divided into two halves of 10 years each to analyze the research trends. A total of 639 CAOS-related articles were identified. An average of 32.0 CAOS-related articles were published annually, with an average of 20.6 and 43.3 published in the first half and second half, respectively. Of all articles, 47.6% were published in the top 10 journals, and 81.2% were written in the top 10 countries. The total numbers of citations were 11.7 and 6.3 in the first and second halves, respectively, but the average annual number of citations was higher in the second half than in the first one. Articles on application of digital techniques during surgery were 62.3% and those on pre-surgery application were 36.9%. Further, articles in the knee (39.0%), spine (28.5%), and hip and pelvis (21.5%) fields accounted for 89.0% of the total publications. But the increase in publications in the said period was highest in the fields of the hand and wrist (+1,300.0%), ankle (+466.7%), and shoulder (+366.7%). Over the last 20 years, the publication of CAOS-related research articles in international journals has grown steadily. Although the knee, spine, hip, and pelvis fields account for most CAOS-related research, research in new fields is also increasing. This study analyzed the types of articles and trends in CAOS-related research and provided useful information for future research in the field of CAOS.

Accessory carpal bone fracture repair by means of computer‐assisted orthopaedic surgery in a Warmblood stallion

SummaryA 10‐year‐old, 595 kg Irish Warmblood stallion used for showjumping was presented with a marked right forelimb lameness at walk. The horse sustained a dorsal plane fracture of the accessory carpal bone (ACB) when falling with both carpi in flexion. The fracture was repaired by means of computer‐assisted orthopaedic surgery (CAOS) using two cortex screws placed in lag fashion. In a second CAOS procedure, a dorsoproximal fragment of the ACB was removed after further proximal displacement had become apparent. Both surgical procedures were facilitated by the application of a fibreglass cast to immobilise the carpus in extension and to allow for the placement of the patient tracker distant from the surgical site. One year after surgery, the horse had returned to full athletic activity. Neither the antebrachiocarpal joint nor the carpal sheath were distended. Control radiographs and standing cone beam computed tomography showed complete osseous union of the fracture and osteophyte formation on the caudal aspect of the radius and the proximal border of the ACB.

Morphological symmetry of the radius and ulna-Can contralateral forearm bones utilize as a reliable template for the opposite side?

The most important precondition for correction of the affected forearm using data from the contralateral side is that the left and right bone features must be similar, in order to develop patient-specific instruments (PSIs) and/or utilize computer-assisted orthopedic surgery (CAOS). The forearm has complex anatomical structure, and most people use their dominant hand more than their less dominant hand, sometimes resulting in asymmetry of the upper limbs. The aim of this study is to investigate differences of the bilateral forearm bones through a quantitative comparison of whole bone parameters including length, volume, bowing, and twisting parameters, and regional shape differences of the forearm bones. In total, 132 bilateral 3D radii and ulnae 3D models were obtained from CT images, whole bone parameters and regional shape were analyzed. Statistically significant differences in whole bone parameters were not shown. Regionally, the radius shows asymmetry in the upper section of the central part to the upper section of the distal part. The ulna shows asymmetry in the lower section of the proximal part to the lower section of the central part. Utilizing contralateral side forearm bones to correct the affected side may be feasible despite regional differences in the forearm bones of around 0.5 mm.

Generalized Coherent Point Drift With Multi-Variate Gaussian Distribution and Watson Distribution

This letter introduces a novel rigid point set registration (PSR) approach that accurately aligns the pre-operative space and the intra-operative space together in the scenario of computer-assisted orthopedic surgery (CAOS). Motivated by considering anisotropic positional localization noise and utilizing undirected normal vectors in the point sets (PSs), the multi-variate Gaussian distribution and the Watson distribution are utilized to model positional and normal vectors’ error distributions respectively. In the proposed approach, with the above probability distributions, the PSR problem is then formulated as a maximum likelihood estimation (MLE) problem and solved under the expectation maximization (EM) framework. Our contributions are three folds. First, the rigid registration problem of aligning generalized points with undirected normal vectors is formally formulated in a probabilistic manner. Second, the MLE problem is solved under the EM framework. Third, the gradients of associated objective functions with respect to desired parameters are computed and provided. Experimental results on both the human pelvis and femur models demonstrate the potential clinical values and that the proposed approach owns significantly improved performances compared with existing methods.

Computer-assisted surgery and navigation in foot and ankle: state of the art and fields of application.

Computer-assisted orthopaedic surgery (CAOS) is a real-time navigation guidance system that supports surgeons intraoperatively.Its use is reported to increase precision and facilitate less-invasive surgery.Advanced intraoperative imaging helps confirm that the initial aim of surgery has been achieved and allows for immediate adjustment when required.The complex anatomy of the foot and ankle, and the associated wide range of challenging procedures should benefit from the use of CAOS; however, reports on the topic are scarce.This article explores the fields of applications of real-time navigation and CAOS in foot and ankle surgery.Cite this article: EFORT Open Rev 2021;6:531-538. DOI: 10.1302/2058-5241.6.200024

Towards markerless computer assisted surgery: Application to total knee arthroplasty.

A new approach is proposed to localise surgical instruments for Computer Assisted Orthopaedic Surgery (CAOS) that aims at overpassing the limitations of conventional CAOS solutions. This approach relies on both a depth sensor and a 6D pose estimation algorithm. The Point-Pair Features (PPF) algorithm was used to estimate the pose of a Patient-Specific Instrument (PSI) for Total Knee Arthroplasty (TKA). Four depth sensors have been compared. Three scores have been computed to assess the performances: The Depth Fitting Error (DFE), the Pose Errors, and the Success Rate. The obtained results demonstrate higher performances for the Microsoft Kinect Azure in terms of DFE. The Occipital Structure core shows better behavior in terms of Pose Errors and Success Rate. This comparative study presents the first depth-sensor based solution allowing the intraoperative markerless localization of surgical instruments in orthopedics.

An improved method for assessing the technical accuracy of optical tracking systems for orthopaedic surgical navigation.

Optical tracking systems (OTSs) are essential components of many modern computer assisted orthopaedic surgery (CAOS) systems but patient movement is often neglected in the evaluation of the accuracy. The aim of this study was to develop a representative test to assess the accuracy of OTSs including patient movement and demonstrate the effect of pointer design and OTS choice. A mobile phantom with dynamic reference base (DRB) attached was designed and constructed. The point registration trueness and precision were evaluated for measurements with both a static and moving phantom. The trueness of the total target registration error (TTRE) was 1.4 to 2.7 times worse with a moving phantom compared to a static phantom. The accuracy of OTSs for CAOS applications should be evaluated by measurements with a moving phantom as the evaluation of the TTRE with a static frame significantly underestimates the measurement error.

Morphometric Evaluation of Detailed Asymmetry for the Proximal Humerus in Korean Population

Computer-assisted orthopedic surgery and patient-specific instruments are widely used in orthopedic fields that utilize contralateral side bone data as a template to restore the affected side bone. The essential precondition for these techniques is that the left and right bone features are similar. Although proximal humerus fracture accounts for 4% to 8% of all fractures, the bilateral asymmetry of the proximal humerus is not fully understood. The aim of this study is to investigate anthropometric differences of the bilateral proximal humerus. One hundred one pairs of Korean humerus CT data from 51 females and 50 males were selected for this research. To investigate bilateral shape differences, we divided the proximal humerus into three regions and the proximal humerus further into five sections in each region. The distance from the centroid to the cortical outline at every 10 degrees was measured in each section. Differences were detected in all regions of the left and right proximal humerus; however, males had a larger number of significant differences than females. Large bilateral differences were measured in the greater tubercle. Nevertheless, using contralateral data as a template for repairing an affected proximal humerus might be possible.

Aligning 3D Curve With Surface Using Tangent and Normal Vectors for Computer-Assisted Orthopedic Surgery

Registration that aligns different views of one interested organ together is an essential technique and outstanding problem in medical robotics and image-guided surgery (IGS). This work introduces a novel rigid point set registration (PSR) approach that aims to accurately map the pre-operative space with the intra-operative space to enable successful image guidance for computer-assisted orthopaedic surgery (CAOS). The normal vectors and tangent vectors are first extracted from the pre-operative and intra-operative point sets (PSs) respectively, and are further utilized to enhance the registration accuracy and robustness. The contributions of this article are three-folds. First, we propose and formulate a novel distribution that describes the error between one normal vector and the corresponding tangent vector based on the von-Mises Fisher (vMF) distribution. Second, by modelling the anisotropic position localization error with the multi-variate Gaussian distribution, we formulate the PSR considering anisotropic localization error as a maximum likelihood estimation (MLE) problem and then solve it under the expectation maximization (EM) framework. Third, to facilitate the optimization process, the gradients of the objective function with respect to the desired parameters are computed and presented. Extensive experimental results on the human femur and pelvis models verify that the proposed approach outperforms the state-of-the-art methods, and demonstrate potential clinical values for relevant surgical navigation applications.

Corrective Osteotomy of Upper Extremity Malunions Using Three-Dimensional Planning and Patient-Specific Surgical Guides: Recent Advances and Perspectives

Malunions of the upper extremity can result in severe functional problems and increase the risk of osteoarthritis. The surgical reconstruction of complex malunions can be technically challenging. Recent advances in computer-assisted orthopedic surgery provide an innovative solution for complex three-dimensional (3-D) reconstructions. This study aims to evaluate the clinical applicability of 3-D computer-assisted planning and surgery for upper extremity malunions. Hence, we provide a summary of evidence on this topic and highlight recent advances in this field. Further, we provide a practical implementation of this therapeutic approach based on three cases of malunited forearm fractures treated with corrective osteotomy using preoperative three-dimensional simulation and patient-specific surgical guides. All three cases, one female (56 years old) and two males (18 and 26 years old), had painful restrictions in range of motion (ROM) due to forearm malunions and took part in clinical and radiologic assessments. Postoperative evaluation of patient outcomes showed a substantial increase in range of motion, reduction of preoperatively reported pain, and an overall improvement of patients' satisfaction. The therapeutic approach used in these cases resulted in an excellent anatomical and functional reconstruction and was assessed as precise, safe, and reliable. Based on current evidence and our results, the 3-D preoperative planning technique could be the new gold standard in the treatment of complex upper extremity malunions in the future.

Application-Specific Learning Curve With a Modern Computer-Assisted Orthopedic Surgery System for Joint Arthroplasty

Abstract A commonly acknowledged barrier for the adoption of new computer-assisted orthopedic surgery (CAOS) technologies relates to a perceived long and steep learning curve. However, this perception has not been objectively tested with the consideration of surgeon-specific learning approaches. This study employed the cumulative sum control chart (CUSUM) to investigate individual surgeon's learning of CAOS technology by monitoring the stability of the surgical process regarding surgical time. Two applications for total knee arthroplasty (TKA) and two applications for total shoulder arthroplasty (TSA) provided by a modern CAOS system were assessed with a total of 21 surgeons with different levels of previous CAOS experience. The surgeon-specific learning durations identified by CUSUM method revealed that CAOS applications with “full guidance” (i.e., those that offer comprehensive guidance, full customization, and utilize CAOS-specific instrumentation) required on average less than ten cases to learn, while the streamlined application designed as a CAOS augmentation of existing mechanical instrumentation demonstrated a minimal learning curve (less than three cases). During the learning phase, the increase in surgical time was found to be moderate (approximately 15 min or less) for the “full guidance” applications, while the streamlined CAOS application only saw a clinically negligible time increase (under 5 min). The CUSUM method provided an objective and consistent measurement on learning, and demonstrated, contrary to common perception, a minimal to modest learning curve required by the modern CAOS system studied.

Patient-Specific Implants for Focal Cartilage Lesions in The Knee: Implant Survivorship Analysis up to Seven Years Post-Implantation

In the quest for increased surgical precision and improved joint kinematics, Computer-Assisted Orthopedic Surgery (CAOS) shows promising results for both total and partial joint replacement. In the knee, computer-assisted joint design can now be applied to the treatment of younger patients suffering pain and restriction of activity due to focal defects in their femoral articular cartilage. By taking MRI scans of the affected knee and digitally segmenting these scans, we can identify and map focal defects in cartilage and bone. Metallic implants matched to the defect can be fabricated, and guide instrumentation to ensure proper implant alignment and depth of recession in the surrounding cartilage can be designed from segmented MRI scans. Beginning in 2012, a series of 682 patient-specific implants were designed based on MRI analysis of femoral cartilage focal defects, and implanted in 612 knees. A Kaplan-Meier analysis found a cumulative survivorship of 96% at 7-year follow-up from the first implantation. Fourteen (2.3%) of these implants required revision due to disease progression, incorrect implant positioning, and inadequate lesion coverage at the time of surgery. These survivorship data compare favorably with all other modes of treatment for femoral focal cartilage lesions and support the use of patient-specific implants designed from segmented MRI scans in these cases.