Clinical efficacy and performance evaluation of a bendable remote robot system for a bone tumour surgery: A pilot animal study.

BACKGROUND: Traditional open surgery for bone tumours sometimes has as a consequence an excessive removal of healthy bone tissue because of the limitations of rigid surgical instruments, increasing infection risk and recovery time. METHODS: We propose a remote robot with a 4.5-mm diameter bendable end-effector, offering four degrees of freedom for accessing the inside of the bone and performing tumour debridement. The preclinical studies evaluated the effectiveness, clinical scenario, and usability across 12 total surgeries-six phantom surgeries and six bovine bone surgeries. Evaluation criteria included skin incision size, bone window size, surgical time, removal rate, and conversion to open surgery. RESULTS: Preclinical studies demonstrated that the robotic approach requires significantly smaller incision size and procedure times than traditional open curettage. CONCLUSION: This study validated the performance of the proposed system by assessing its preclinical effectiveness and optimising surgical methods using human phantom and bovine bone tumour models.

Simulated augmented reality-based calibration of optical see-through head mound display for surgical navigation.

PURPOSE: Calibration of an optical see-through head-mounted display is critical for augmented reality-based surgical navigation. While conventional methods have advanced, calibration errors remain significant. Moreover, prior research has focused primarily on calibration accuracy and procedure, neglecting the impact on the overall surgical navigation system. Consequently, these enhancements do not necessarily translate to accurate augmented reality in the optical see-through head mount due to systemic errors, including those in calibration. METHOD: This study introduces a simulated augmented reality-based calibration to address these issues. By replicating the augmented reality that appeared in the optical see-through head mount, the method achieves calibration that compensates for augmented reality errors, thereby reducing them. The process involves two distinct calibration approaches, followed by adjusting the transformation matrix to minimize displacement in the simulated augmented reality. RESULTS: The efficacy of this method was assessed through two accuracy evaluations: registration accuracy and augmented reality accuracy. Experimental results showed an average translational error of 2.14 mm and rotational error of 1.06° across axes in both approaches. Additionally, augmented reality accuracy, measured by the overlay regions' ratio, increased to approximately 95%. These findings confirm the enhancement in both calibration and augmented reality accuracy with the proposed method. CONCLUSION: The study presents a calibration method using simulated augmented reality, which minimizes augmented reality errors. This approach, requiring minimal manual intervention, offers a more robust and precise calibration technique for augmented reality applications in surgical navigation.

A Proof of Concept: Optimized Jawbone-Reduction Model for Mandibular Fracture Surgery.

Previous research on computer-assisted jawbone reduction for mandibular fracture surgery has only focused on the relationship between fractured sections disregarding proper dental occlusion with the maxilla. To overcome malocclusion caused by overlooking dental articulation, this study aims to provide a model for jawbone reduction based on dental occlusion. After dental landmarks and fracture sectional features are extracted, the maxilla and two mandible segments are aligned first using the extracted dental landmarks. A swarm-based optimization is subsequently performed by simultaneously observing the fracture section fitting and the dental occlusion condition. The proposed method was evaluated using jawbone data of 12 subjects with simulated and real mandibular fractures. Results showed that the optimized model achieved both accurate jawbone reduction and desired dental occlusion, which may not be possible by existing methods.

Intraoperative zoom lens calibration for high magnification surgical microscope.

BACKGROUND AND OBJECTIVES: An augmented reality (AR)-based surgical guidance system is often used with high-magnification zoom lens systems such as a surgical microscope, particularly in neurology or otolaryngology. To superimpose the internal structures of relevant organs on the microscopy image, an accurate calibration process to obtain the camera intrinsic and hand-eye parameters of the microscope is essential. However, conventional calibration methods are unsuitable for surgical microscopes because of their narrow depth of focus at high magnifications. To realize AR-based surgical guidance with a high-magnification surgical microscope, we herein propose a new calibration method that is applicable to the highest magnification levels as well as low magnifications. METHODS: The key idea of the proposed method is to find the relationship between the focal length and the hand-eye parameters, which remains constant regardless of the magnification level. Based on this, even if the magnification changes arbitrarily during surgery, the intrinsic and hand-eye parameters are recalculated quickly and accurately with one or two pictures of the pattern. We also developed a dedicated calibration tool with a prism to take focused pattern images without interfering with the surgery. RESULTS: The proposed calibration method ensured an AR error of < 1 mm for all magnification levels. In addition, the variation of focal length was within 1% regardless of the magnification level, and the corresponding variation with the conventional calibration method exceeded 20% at high magnification levels. CONCLUSIONS: The comparative study showed that the proposed method has outstanding accuracy and reproducibility for a high-magnification surgical microscope. The proposed calibration method is applicable to various endoscope or microscope systems with zoom lens.

Augmented reality-based surgical guidance for wrist arthroscopy with bone-shift compensation.

BACKGROUND AND OBJECTIVES: Intraoperative joint condition is different from preoperative CT/MR due to the motion applied during surgery, inducing an inaccurate approach to surgical targets. This study aims to provide real-time augmented reality (AR)-based surgical guidance for wrist arthroscopy based on a bone-shift model through an in vivo computed tomography (CT) study. METHODS: To accurately visualize concealed wrist bones on the intra-articular arthroscopic image, we propose a surgical guidance system with a novel bone-shift compensation method using noninvasive fiducial markers. First, to measure the effect of traction during surgery, two noninvasive fiducial markers were attached before surgery. In addition, two virtual link models connecting the wrist bones were implemented. When wrist traction occurs during the operation, the movement of the fiducial marker is measured, and bone-shift compensation is applied to move the virtual links in the direction of the traction. The proposed bone-shift compensation method was verified with the in vivo CT data of 10 participants. Finally, to introduce AR, camera calibration for the arthroscope parameters was performed, and a patient-specific template was used for registration between the patient and the wrist bone model. As a result, a virtual bone model with three-dimensional information could be accurately projected on a two-dimensional arthroscopic image plane. RESULTS: The proposed method was possible to estimate the position of wrist bone in the traction state with an accuracy of 1.4 mm margin. After bone-shift compensation was applied, the target point error was reduced by 33.6% in lunate, 63.3% in capitate, 55.0% in scaphoid, and 74.8% in trapezoid than those in preoperative wrist CT. In addition, a phantom experiment was introduced simulating the real surgical environment. AR display allowed to expand the field of view (FOV) of the arthroscope and helped in visualizing the anatomical structures around the bones. CONCLUSIONS: This study demonstrated the successful handling of AR error caused by wrist traction using the proposed method. In addition, the method allowed accurate AR visualization of the concealed bones and expansion of the limited FOV of the arthroscope. The proposed bone-shift compensation can also be applied to other joints, such as the knees or shoulders, by representing their bone movements using corresponding virtual links. In addition, the movement of the joint skin during surgery can be measured using noninvasive fiducial markers in the same manner as that used for the wrist joint.

Robot-patient registration for optical tracker-free robotic fracture reduction surgery.

BACKGROUND AND OBJECTIVE: Image-guided robotic surgery for fracture reduction is a medical procedure in which surgeons control a surgical robot to align the fractured bones by using a navigation system that shows the rotation and distance of bone movement. In such robotic surgeries, it is necessary to estimate the relationship between the robot and patient (bone), a task known as robot-patient registration, to realize the navigation. Through the registration, a fracture state in real-world can be simulated in virtual space of the navigation system. METHODS: This paper proposes an approach to realize robot-patient registration for an optical-tracker-free robotic fracture-reduction system. Instead of the optical tracker which is a three-dimensional position localizer, X-ray images are used to realize the robot-patient registration, combining the relationship of both the robot and patient with regards to C-arm. The proposed method consists of two steps of registration, where initial registration is followed by refined registration which adopts particle swarm optimization with the minimum cross-reprojection error based on bidirectional X-ray images. To address the unrecognizable features due to interference between the robot and bone, we also developed attachable robot features. The allocated robot features could be clearly extracted from the X-ray images, and precise registration could be realized through the particle swarm optimization. RESULTS: The proposed method was evaluated in phantom and ex-vivo experiments involving a caprine cadaver. For the phantom experiments, the average translational and rotational errors were 1.88 mm and 2.45°, respectively, and the corresponding errors in the ex vivo experiments were 2.64 mm and 3.32° The results demonstrated the effectiveness of the proposed robot-patient registration. CONCLUSIONS: The proposed method enable to estimate the three-dimensional relationship between fractured bones in real-world by using only two-dimensional images, and the relationship is accurately simulated in virtual reality for the navigation. Therefore, a reduction procedure for successful treatment of bone fractures in image-guided robotic surgery can be expected with the aid of the proposed registration method.

A shape-partitioned statistical shape model for highly deformed femurs using X-ray images.

To develop a patient-specific 3 D reconstruction of a femur modeled using the statistical shape model (SSM) and X-ray images, it is assumed that the target shape is not outside the range of variations allowed by the SSM built from a training dataset. We propose the shape-partitioned statistical shape model (SPSSM) to cover significant variations in the target shape. This model can divide a shape into several segments of anatomical interest. We break up the eigenvector matrix into the corresponding representative matrices for the SPSSM by preserving the relevant rows of the original matrix without segmenting the shape and building an independent SSM for each segment. To quantify the reconstruction error of the proposed method, we generated two groups of deformation models of the femur which cannot be easily represented by the conventional SSM. One group of femurs had an anteversion angle deformation, and the other group of femurs had two different scales of the femoral head. Each experiment was performed using the leave-one-out method for twelve femurs. When the femoral head was rotated by 30°, the average reconstruction error of the conventional SSM was 5.34 mm, which was reduced to 3.82 mm for the proposed SPSSM. When the femoral head size was decreased by 20%, the average reconstruction error of the SSM was 4.70 mm, which was reduced to 3.56 mm for the SPSSM. When the femoral head size was increased by 20%, the average reconstruction error of the SSM was 4.28 mm, which was reduced to 3.10 mm for the SPSSM. The experimental results for the two groups of deformation models showed that the proposed SPSSM outperformed the conventional SSM.

Heterogeneous Stitching of X-ray Images According to Homographic Evaluation.

The C-arm X-ray system is a common intraoperative imaging modality used to observe the state of a fractured bone in orthopedic surgery. Using C-arm, the bone fragments are aligned during surgery, and their lengths and angles with respect to the entire bone are measured to verify the fracture reduction. Since the field-of-view of the C-arm is too narrow to visualize the entire bone, a panoramic X-ray image is utilized to enlarge it by stitching multiple images. To achieve X-ray image stitching with feature detection, the extraction of accurate and densely matched features within the overlap region between images is imperative. However, since the features are highly affected by the properties and sizes of the overlap regions in consecutive X-ray images, the accuracy and density of matched features cannot be guaranteed. To solve this problem, a heterogeneous stitching of X-ray images was proposed. This heterogeneous stitching was completed according to the overlap region based on homographic evaluation. To acquire sufficiently matched features within the limited overlap region, integrated feature detection was used to estimate a homography. The homography was then evaluated to confirm its accuracy. When the estimated homography was incorrect, local regions around the matched feature were derived from integrated feature detection and substituted to re-estimate the homography. Successful X-ray image stitching of the C-arm was achieved by estimating the optimal homography for each image. Based on phantom and ex-vivo experiments using the proposed method, we confirmed a panoramic X-ray image construction that was robust compared to the conventional methods.

Navigation-assisted anchor insertion in shoulder arthroscopy: a validity study.

BACKGROUND: This study aimed to compare conventional and navigation-assisted arthroscopic rotator cuff repair in terms of anchor screw insertion. METHODS: The surgical performance of five operators while using the conventional and proposed navigation-assisted systems in a phantom surgical model and cadaveric shoulders were compared. The participating operators were divided into two groups, the expert group (n = 3) and the novice group (n = 2). In the phantom model, the experimental tasks included anchor insertion in the rotator cuff footprint and sutures retrieval. A motion analysis camera system was used to track the surgeons' hand movements. The surgical performance metric included the total path length, number of movements, and surgical duration. In cadaveric experiments, the repeatability and reproducibility of the anchor insertion angle were compared among the three experts, and the feasibility of the navigation-assisted anchor insertion was validated. RESULTS: No significant differences in the total path length, number of movements, and time taken were found between the conventional and proposed systems in the phantom model. In cadaveric experiments, however, the clustering of the anchor insertion angle indicated that the proposed system enabled both novice and expert operators to reproducibly insert the anchor with an angle close to the predetermined target angle, resulting in an angle error of < 2° (P = 0.0002). CONCLUSION: The proposed navigation-assisted system improved the surgical performance from a novice level to an expert level. All the experts achieved high repeatability and reproducibility for anchor insertion. The navigation-assisted system may help surgeons, including those who are inexperienced, easily familiarize themselves to of suture anchors insertion in the right direction by providing better guidance for anchor orientation. LEVEL OF EVIDENCE: A retrospective study (level 2).

Simultaneous Optimization of Patient-Image Registration and Hand-Eye Calibration for Accurate Augmented Reality in Surgery.

OBJECTIVE: Augmented reality (AR) navigation using a position sensor in endoscopic surgeries relies on the quality of patient-image registration and hand-eye calibration. Conventional methods collect the necessary data to compute two output transformation matrices separately. However, the AR display setting during surgery generally differs from that during preoperative processes. Although conventional methods can identify optimal solutions under initial conditions, AR display errors are unavoidable during surgery owing to the inherent computational complexity of AR processes, such as error accumulation over successive matrix multiplications, and tracking errors of position sensor. METHODS: We propose the simultaneous optimization of patient-image registration and hand-eye calibration in an AR environment before surgery. The relationship between the endoscope and a virtual object to overlay is first calculated using an endoscopic image, which also functions as a reference during optimization. After including the tracking information from the position sensor, patient-image registration and hand-eye calibration are optimized in terms of least-squares. RESULTS: Experiments with synthetic data verify that the proposed method is less sensitive to computation and tracking errors. A phantom experiment with a position sensor is also conducted. The accuracy of the proposed method is significantly higher than that of the conventional method. CONCLUSION: The AR accuracy of the proposed method is compared with those of the conventional ones, and the superiority of the proposed method is verified. SIGNIFICANCE: This study demonstrates that the proposed method exhibits substantial potential for improving AR navigation accuracy.

Compact Bone Surgery Robot With a High-Resolution and High-Rigidity Remote Center of Motion Mechanism.

OBJECTIVE: Two important and difficult tasks during a bone drilling procedure are guiding the orientation of the drilling axis toward the target and maintaining the orientation against the drilling force. To accomplish these tasks, a remote center of motion (RCM) mechanism is adopted to align the orientation of the drilling axis without changing the entry point. However, existing RCM mechanisms do not provide sufficient resolution and rigidity to address hard tissue cases. METHODS: We propose a new type of RCM mechanism that uses two sets of linear actuators and a gearless-arc guide to have a high resolution and rigidity. In addition, we designed a single motor-based drilling mechanism based on rolling friction. To achieve automatic control of the guiding and drilling process, we incorporated a computer-tomography-based navigation system that was equipped with an optical tracking system. RESULTS: The effectiveness of the integrated robotic system was demonstrated through a series of experiments and ex vivo drilling tests on swine femurs. The proposed robotic system withstood a maximum external force of 51 N to maintain the joint angle, and the average drilling error was less than 1.2 mm. CONCLUSION: This study confirms the feasibility of the proposed bone drilling robotic system with a high-resolution and high-rigidity RCM mechanism. SIGNIFICANCE: This drilling system is the first successful trial based on an RCM mechanism and a single motor-based drilling mechanism, reducing the footprint and required motors with respect to previous bone surgical robots.

Navigation-assisted suture anchor insertion for arthroscopic rotator cuff repair.

BACKGROUND: Suture anchor placement for subscapularis repair is challenging. Determining the exact location and optimum angle relative to the subscapularis tendon direction is difficult because of the mismatch between a distorted arthroscopic view and the actual anatomy of the footprint. This study aimed to compare the reliability and reproducibility of the navigation-assisted anchoring technique with conventional arthroscopic anchor fixation. METHODS: Arthroscopic shoulder models were tested by five surgeons. The conventional and navigation-assisted methods of suture anchoring in the subscapularis footprint on the humeral head were tested by each surgeon seven times. Angular results and anchor locations were measured and compared using the Wilcoxon signed rank test. Interobserver intraclass correlation coefficients (ICCs) were analyzed among the surgeons. RESULTS: The mean angular errors of the targeted anchor fixation guide without and with navigation were 17° and 2° (p < 0.05), respectively, and the translational errors were 15 and 3 mm (p < 0.05), respectively. All participants showed a narrow range of anchor fixation angular and translational errors from the original target. Among the surgeons, the interobserver reliabilities of angular errors for ICCs of the navigation-assisted and conventional methods were 0.897 and 0.586, respectively, and the interobserver ICC reliabilities for translational error were 0.938 and 0.619, respectively. CONCLUSIONS: The navigation system may help surgeons be more aware of the surrounding anatomy and location, providing better guidance for anchor orientation, including footprint location and anchor angle.

Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery.

PURPOSE: One of the main factors that affect the rigidity of flexible robots is the twist deformation because of the external force exerted on the end effector. Another important factor that affects accuracy is the fact that such robots do not have a constant curvature. The conventional kinematic model assumes that the curvature is constant; however, in reality, it is not. To improve the rigidity and accuracy of flexible robots used in minimally invasive surgery via preventing the twist deformation while ensuring a constant curvature, we propose a novel flexible manipulator with ball-constrained spherical (BCS) joints and a spring. METHODS: The BCS joints are used to prevent the twist deformation in the flexible robot. The joints have two degrees of freedom (DOFs), which limit the rotation about the axial direction. The rotation is limited because the ball that is inserted into a BCS joint can move only along the ball guide. To obtain a constant curvature, springs are installed among the BCS joints. The springs receive the uniform compression force generated among the joints, thus achieving a constant curvature. The proposed BCS joint is designed based on the diameter of the forceps, desired workspace, and desired bending angle. RESULTS: To evaluate the proposed mechanism, three experiments were performed using a 20-mm-diameter prototype consisting of 13 BCS joints with a two-DOF motion. The experimental results showed that the prototype can realize a constant curvature with a mean error of 0.21°, which can support up to 5 N with no apparent twist deformation. CONCLUSIONS: We developed a flexible manipulator with BCS joints for minimally invasive surgery. The proposed mechanism is anticipated to help prevent the twist deformation of the robot and realize a constant curvature. Accordingly, it is expected that rigidity is improved to ensure accuracy.

Tracking Accuracy of a Stereo Camera-Based Augmented Reality Navigation System for Orthognathic Surgery.

PURPOSE: Tracking accuracy is critical to successful augmented reality (AR) in the diagnosis and surgical correction of maxillofacial deformities. The present study investigated the tracking accuracy of an AR navigation system combined with a stereo camera during repositioning of the maxilla after a Le Fort I osteotomy using a 3-dimensional skull model and compared the tracking accuracy with that of an existing infrared (IR)-based optical tracking system (OTS). MATERIALS AND METHODS: Five maxillary surgery plans were designed using a 6 degrees-of-freedom articulator that allowed maxillary movement to be set up quantitatively (target distance, 5 mm). To evaluate the accuracy of the stereo camera AR navigation system, it was compared with a commercially available and commonly used IR-based OTS. RESULTS: The mean error was 0.0584 mm in the IR-based OTS and 0.0596 mm in the AR navigation system. The mean accuracy was 98.83% in the IR-based OTS and 98.81% in the AR navigation system. CONCLUSIONS: In this study, the stereo camera-based AR navigation system fabricated and analyzed by the authors was designed for accuracy. The experiments showed its reliability and accuracy. The hardware developed for this AR navigation system displayed accuracy similar to that of existing high-cost imported devices at a substantially lower cost. In addition to surgery, potential applications of the AR navigation system include patient communication and training for novice clinicians.

The Dimensionless Squared Jerk: An Objective Parameter That Improves Assessment of Hand Motion Analysis during Simulated Shoulder Arthroscopy.

PURPOSE: Attempts to quantify hand movements of surgeons during arthroscopic surgery faced limited progress beyond motion analysis of hands and/or instruments. Surrogate markers such as procedure time have been used. The dimensionless squared jerk (DSJ) is a measure of deliberate hand movements. This study tests the ability of DSJ to differentiate novice and expert surgeons (construct validity) whilst performing simulated arthroscopic shoulder surgical tasks. METHODS: Six residents (novice group) and six consultants (expert group) participated in this study. Participants performed three validated tasks sequentially under the same experimental setup (one performance). Each participant had ten performances assessed. Hand movements were recorded with optical tracking system. The DSJ, time taken, total path length, multiple measures of acceleration, and number of movements were recorded. RESULTS: There were significant differences between novices and experts when assessed using time, number of movements with average and minimal acceleration threshold, and DSJ. No significant differences were observed in maximum acceleration, total path length, and number of movements with 10m/s2 acceleration threshold. CONCLUSION: DSJ is an objective parameter that can differentiate novice and expert surgeons' simulated arthroscopic performances. We propose DSJ as an adjunct to more conventional parameters for arthroscopic surgery skills assessment.

CT-based Navigation System Using a Patient-Specific Instrument for Femoral Component Positioning: An Experimental in vitro Study with a Sawbone Model.

PURPOSE: The intraoperative version of the femoral component is usually determined by visual appraisal of the stem position relative to the distal femoral condylar axis. However, several studies have suggested that a surgeon's visual assessment of the stem position has a high probability of misinterpretation. We developed a computed tomography (CT)-based navigation system with a patient-specific instrument (PSI) capable of three-dimensional (3D) printing and investigated its accuracy and consistency in comparison to the conventional technique of visual assessment of the stem position. MATERIALS AND METHODS: A CT scan of a femur sawbone model was performed, and pre-experimental planning was completed. We conducted 30 femoral neck osteotomies using the conventional technique and another 30 femoral neck osteotomies using the proposed technique. The femoral medullary canals were identified in both groups using a box chisel. RESULTS: For the absolute deviation between the measured and planned values, the mean two-dimensional anteversions of the proposed and conventional techniques were 1.41° and 4.78°, while their mean 3D anteversions were 1.15° and 3.31°. The mean θ1, θ2, θ3, and d, all of which are parameters for evaluating femoral neck osteotomy, were 2.93°, 1.96°, 5.29°, and 0.48 mm for the proposed technique and 4.26°, 3.17°, 4.43°, and 3.15 mm for the conventional technique, respectively. CONCLUSION: The CT-based navigation system with PSI was more accurate and consistent than the conventional technique for assessment of stem position. Therefore, it can be used to reduce the frequency of incorrect assessments of the stem position among surgeons and to help with accurate determination of stem anteversion.

Perspective pinhole model with planar source for augmented reality surgical navigation based on C-arm imaging.

PURPOSE: For augmented reality surgical navigation based on C-arm imaging, accuracy of the overlaid augmented reality onto the X-ray image is imperative. However, overlay displacement is generated when a conventional pinhole model describing a geometric relationship of a normal camera is adopted for C-arm calibration. Thus, a modified model for C-arm calibration is proposed to reduce this displacement, which is essential for accurate surgical navigation. METHOD: Based on the analysis of displacement pattern generated for three-dimensional objects, we assumed that displacement originated by moving the X-ray source position according to the depth. In the proposed method, X-ray source movement was modeled as variable intrinsic parameters and represented in the pinhole model by replacing the point source with a planar source. RESULTS: The improvement which represents a reduced displacement was verified by comparing overlay accuracy for augmented reality surgical navigation between the conventional and proposed methods. The proposed method achieved more accurate overlay on the X-ray image in spatial position as well as depth of the object volume. CONCLUSION: We validated that intrinsic parameters that describe the source position were dependent on depth for a three-dimensional object and showed that displacement can be reduced and become independent of depth by using the proposed planar source model.

Augmented reality-based electrode guidance system for reliable electroencephalography.

BACKGROUND: In longitudinal electroencephalography (EEG) studies, repeatable electrode positioning is essential for reliable EEG assessment. Conventional methods use anatomical landmarks as fiducial locations for the electrode placement. Since the landmarks are manually identified, the EEG assessment is inevitably unreliable because of individual variations among the subjects and the examiners. To overcome this unreliability, an augmented reality (AR) visualization-based electrode guidance system was proposed. METHODS: The proposed electrode guidance system is based on AR visualization to replace the manual electrode positioning. After scanning and registration of the facial surface of a subject by an RGB-D camera, the AR of the initial electrode positions as reference positions is overlapped with the current electrode positions in real time. Thus, it can guide the position of the subsequently placed electrodes with high repeatability. RESULTS: The experimental results with the phantom show that the repeatability of the electrode positioning was improved compared to that of the conventional 10-20 positioning system. CONCLUSION: The proposed AR guidance system improves the electrode positioning performance with a cost-effective system, which uses only RGB-D camera. This system can be used as an alternative to the international 10-20 system.

A Preliminary Study on Precision Image Guidance for Electrode Placement in an EEG Study.

Conventional methods for positioning electroencephalography electrodes according to the international 10/20 system are based on the manual identification of the principal 10/20 landmarks via visual inspection and palpation, inducing intersession variations in their determined locations due to structural ambiguity or poor visibility. To address the variation issue, we propose an image guidance system for precision electrode placement. Following the electrode placement according to the 10/20 system, affixed electrodes are laser-scanned together with the facial surface. For subsequent procedures, the laser scan is conducted likewise after positioning the electrodes in an arbitrary manner, and following the measurement of fiducial electrode locations, frame matching is performed to determine a transformation from the coordinate frame of the position tracker to that of the laser-scanned image. Finally, by registering the intra-procedural scan of the facial surface to the reference scan, the current tracking data of the electrodes can be visualized relative to the reference goal positions without manually measuring the four principal landmarks for each trial. The experimental results confirmed that use of the electrode navigation system significantly improved the electrode placement precision compared to the conventional 10/20 system (p < 0.005). The proposed system showed the possibility of precise image-guided electrode placement as an alternative to the conventional manual 10/20 system.

Can Augmented Reality Be Helpful in Pelvic Bone Cancer Surgery? An In Vitro Study.

BACKGROUND: Application of surgical navigation for pelvic bone cancer surgery may prove useful, but in addition to the fact that research supporting its adoption remains relatively preliminary, the actual navigation devices are physically large, occupying considerable space in already crowded operating rooms. To address this issue, we developed and tested a navigation system for pelvic bone cancer surgery assimilating augmented reality (AR) technology to simplify the system by embedding the navigation software into a tablet personal computer (PC). QUESTIONS/PURPOSES: Using simulated tumors and resections in a pig pelvic model, we asked: Can AR-assisted resection reduce errors in terms of planned bone cuts and improve ability to achieve the planned margin around a tumor in pelvic bone cancer surgery? METHODS: We developed an AR-based navigation system for pelvic bone tumor surgery, which could be operated on a tablet PC. We created 36 bone tumor models for simulation of tumor resection in pig pelves and assigned 18 each to the AR-assisted resection group and conventional resection group. To simulate a bone tumor, bone cement was inserted into the acetabular dome of the pig pelvis. Tumor resection was simulated in two scenarios. The first was AR-assisted resection by an orthopaedic resident and the second was resection using conventional methods by an orthopaedic oncologist. For both groups, resection was planned with a 1-cm safety margin around the bone cement. Resection margins were evaluated by an independent orthopaedic surgeon who was blinded as to the type of resection. All specimens were sectioned twice: first through a plane parallel to the medial wall of the acetabulum and second through a plane perpendicular to the first. The distance from the resection margin to the bone cement was measured at four different locations for each plane. The largest of the four errors on a plane was adopted for evaluation. Therefore, each specimen had two values of error, which were collected from two perpendicular planes. The resection errors were classified into four grades: ≤ 3 mm; 3 to 6 mm; 6 to 9 mm; and > 9 mm or any tumor violation. Student's t-test was used for statistical comparison of the mean resection errors of the two groups. RESULTS: The mean of 36 resection errors of 18 pelves in the AR-assisted resection group was 1.59 mm (SD, 4.13 mm; 95% confidence interval [CI], 0.24-2.94 mm) and the mean error of the conventional resection group was 4.55 mm (SD, 9.7 mm; 95% CI, 1.38-7.72 mm; p < 0.001). All specimens in the AR-assisted resection group had errors < 6 mm, whereas 78% (28 of 36) of errors in the conventional group were < 6 mm. CONCLUSIONS: In this in vitro simulated tumor model, we demonstrated that AR assistance could help to achieve the planned margin. Our model was designed as a proof of concept; although our findings do not justify a clinical trial in humans, they do support continued investigation of this system in a live animal model, which will be our next experiment. CLINICAL RELEVANCE: The AR-based navigation system provides additional information of the tumor extent and may help surgeons during pelvic bone cancer surgery without the need for more complex and cumbersome conventional navigation systems.