Software-based method for automated intraoperative planning of Schoettle Point in surgical medial patellofemoral ligament reconstruction: A comparative validation study.

BACKGROUND: The aim of the study was to validate a software-based planning method for the Schoettle Point and to evaluate precision and time efficiency of its live overlay on the intraoperative X-ray. METHODS: A software-based method was compared with surgeons' manual planning in an inter- and intrarater study. Subsequently, K-wire placement was performed with and without an overlay of the planning. The time used and the precision achieved were statistically compared. RESULTS: The average deviation between the surgeons (1.68 mm; 2.26 mm) was greater than the discrepancy between the surgeons and the software-based planning (1.30 mm; 1.38 mm). In the intrarater comparison, software-based planning provided consistent results. Live overlay showed a significantly lower positioning error (0.9 ± 0.5 mm) compared with that without overlay (3.0 ± 1.4 mm, p = 0.000; 3.1 ± 1.4 mm, p = 0.001). Live overlay did not achieve a significant time gain (p = 0.393; p = 0.678). CONCLUSION: The software-based planning and live overlay of the Schoettle Point improves surgical precision without negatively affecting time efficiency.

A principled representation of elongated structures using heatmaps.

The detection of elongated structures like lines or edges is an essential component in semantic image analysis. Classical approaches that rely on significant image gradients quickly reach their limits when the structure is context-dependent, amorphous, or not directly visible. This study introduces a principled mathematical description of elongated structures with various origins and shapes. Among others, it serves as an expressive operational description of target functions that can be well approximated by Convolutional Neural Networks. The nominal position of a curve and its positional uncertainty are encoded as a heatmap by convolving the curve distribution with a filter function. We propose a low-error approximation to the expensive numerical integration by evaluating a distance-dependent function, enabling a lightweight implementation with linear time complexity. We analyze the method's numerical approximation error and behavior for different curve types and signal-to-noise levels. Application to surgical 2D and 3D data, semantic boundary detection, skeletonization, and other related tasks demonstrate the method's versatility at low errors.

Fast 3D YOLOv3 based standard plane regression of vertebral bodies in intra-operative CBCT volumes.

Purpose: Mobile C-arm systems represent the standard imaging devices within the field of spine surgery. In addition to 2D imaging, they allow for 3D scans while preserving unrestricted patient access. For viewing, the acquired volumes are adjusted such that their anatomical standard planes align with the axes of the viewing modality. This difficult and time-consuming step is currently performed manually by the leading surgeon. This process is automatized within this work to improve the usability of C-arm systems. Thereby, the spinal region consisting of multiple vertebrae and the standard planes of all vertebrae being of interest to the surgeon need to be taken into account. Approach: An object detection algorithm based on the you only look once version 3 architecture, adapted to 3D inputs, is compared with a segmentation-based approach employing a 3D U-Net. Both algorithms are trained on a dataset of 440 and tested on 218 spinal volumes. Results: Although the detection-based algorithm is slightly inferior concerning the detection (91% versus 97% accuracy), localization (1.26 mm versus 0.74 mm error) and alignment accuracy (5.00 deg versus 4.73 deg error), it outperforms the segmentation-based one in terms of speed (5 s versus 38 s). Conclusions: Both algorithms show similar good results. However, the speed gain of the detection-based algorithm, resulting in a run time of 5 s, makes it more suitable for usage in an intra-operative scenario.

C-arm positioning for standard projections during spinal implant placement.

Fluoroscopy-guided trauma and orthopedic surgeries involve the repeated acquisition of correct anatomy-specific standard projections for guidance, monitoring, and evaluating the surgical result. C-arm positioning is usually performed by hand, involving repeated or even continuous fluoroscopy at a cost of radiation exposure and time. We propose to automate this procedure and estimate the pose update for C-arm repositioning directly from a first X-ray without the need for a patient-specific computed tomography scan (CT) or additional technical equipment. Our method is trained on digitally reconstructed radiographs (DRRs) which uniquely provide ground truth labels for an arbitrary number of training examples. The simulated images are complemented with automatically generated segmentations, landmarks, and with simulated k-wires and screws. To successfully achieve a transfer from simulated to real X-rays, and also to increase the interpretability of results, the pipeline was designed to closely reflect the actual clinical decision-making process followed by spinal neurosurgeons. It explicitly incorporates steps such as region-of-interest (ROI) localization, detection of relevant and view-independent landmarks, and subsequent pose regression. The method was validated on a large human cadaver study simulating a real clinical scenario, including k-wires and screws. The proposed procedure obtained superior C-arm positioning accuracy of dθ=8.8°±4.2° average improvement (pt-test≪0.01), robustness, and generalization capabilities compared to the state-of-the-art direct pose regression framework.

Automatic plane adjustment of orthopedic intraoperative flat panel detector CT-volumes.

Purpose: To assess the result in orthopedic trauma surgery, usually three-dimensional volume data of the treated region is acquired. With mobile C-arm systems, these acquisitions can be performed intraoperatively, reducing the number of required revision surgeries. However, the acquired volumes are typically not aligned to the anatomical regions. Thus, the multiplanar reconstructed (MPR) planes need to be adjusted manually during the review of the volume. To speed up and ease the workflow, an automatic parameterization of these planes is needed. Approach: We present a detailed study of multitask learning (MTL) regression networks to estimate the parameters of the MPR planes. First, various mathematical descriptions for rotation, including Euler angle, quaternion, and matrix representation, are revised. Then, two different MTL network architectures based on the PoseNet are compared with a single task learning network. Results: Using a matrix description rather than the Euler angle description, the accuracy of the regressed normals improves from 7.7 deg to 7.3 deg in the mean value for single anatomies. The multihead approach improves the regression of the plane position from 7.4 to 6.1 mm, whereas the orientation does not benefit from this approach. Thus, the achieved accuracy meets the reported interrater variance in similarly complex body regions of up to 6.3 deg for the normals and up to 9.3 mm for the plane position. Conclusions: The use of a multihead approach with shared features leads to more accurate plane regression compared with the use of individual networks for each task. It also improves the angle estimation for the ankle region. The reported results are in the same range as manual plane adjustments. The use of a combined network with shared parameters requires less memory, which is a great benefit for the implementation of an application for the surgical environment.

Multi-Stage Platform for (Semi-)Automatic Planning in Reconstructive Orthopedic Surgery.

Intricate lesions of the musculoskeletal system require reconstructive orthopedic surgery to restore the correct biomechanics. Careful pre-operative planning of the surgical steps on 2D image data is an essential tool to increase the precision and safety of these operations. However, the plan's effectiveness in the intra-operative workflow is challenged by unpredictable patient and device positioning and complex registration protocols. Here, we develop and analyze a multi-stage algorithm that combines deep learning-based anatomical feature detection and geometric post-processing to enable accurate pre- and intra-operative surgery planning on 2D X-ray images. The algorithm allows granular control over each element of the planning geometry, enabling real-time adjustments directly in the operating room (OR). In the method evaluation of three ligament reconstruction tasks effect on the knee joint, we found high spatial precision in drilling point localization (ε<2.9mm) and low angulation errors for k-wire instrumentation (ε<0.75∘) on 38 diagnostic radiographs. Comparable precision was demonstrated in 15 complex intra-operative trauma cases suffering from strong implant overlap and multi-anatomy exposure. Furthermore, we found that the diverse feature detection tasks can be efficiently solved with a multi-task network topology, improving precision over the single-task case. Our platform will help overcome the limitations of current clinical practice and foster surgical plan generation and adjustment directly in the OR, ultimately motivating the development of novel 2D planning guidelines.

Computer-assisted contralateral side comparison of the ankle joint using flat panel technology.

PURPOSE: Reduction and osteosynthesis of ankle fractures is a challenging surgical procedure when it comes to the verification of the reduction result. Evaluation is conducted using intra-operative imaging of the injured ankle and depends on the expertise of the surgeon. Studies suggest that intra-individual variance of the ankle bone shape and pose is considerably lower than the inter-individual variance. It stands to reason that the information gain from the healthy contralateral side can help to improve the evaluation. METHOD: In this paper, an assistance system is proposed that provides a side-to-side view of the two ankle joints for visual comparison and instant evaluation using only one 3D C-arm image. Two convolutional neural networks (CNN) are employed to extract the relevant image regions and pose information of each ankle so that they can be aligned with each other. A first U-Net uses a sliding window to predict the location of each ankle. The standard plane estimation is formulated as segmentation problem so that a second U-Net predicts the three viewing planes for alignment. RESULTS: Experiments were conducted to assess the accuracy of the individual steps on 218 unilateral ankle datasets as well as the overall performance on 7 bilateral ankle datasets. The experiments on unilateral ankles yield a median position-to-plane error of [Formula: see text] mm and a median angular error between 2.98[Formula: see text] and 3.71[Formula: see text] for the plane normals. CONCLUSION: Standard plane estimation via segmentation outperforms direct pose regression. Furthermore, the complete pipeline was evaluated including ankle detection and subsequent plane estimation on bilateral datasets. The proposed pipeline enables a direct contralateral side comparison without additional radiation. This has the potential to ease and improve the intra-operative evaluation for the surgeons in the future and reduce the need for revision surgery.

Toward automatic C-arm positioning for standard projections in orthopedic surgery.

PURPOSE: Guidance and quality control in orthopedic surgery increasingly rely on intra-operative fluoroscopy using a mobile C-arm. The accurate acquisition of standardized and anatomy-specific projections is essential in this process. The corresponding iterative positioning of the C-arm is error prone and involves repeated manual acquisitions or even continuous fluoroscopy. To reduce time and radiation exposure for patients and clinical staff and to avoid errors in fracture reduction or implant placement, we aim at guiding-and in the long-run automating-this procedure. METHODS: In contrast to the state of the art, we tackle this inherently ill-posed problem without requiring patient-individual prior information like preoperative computed tomography (CT) scans, without the need of registration and without requiring additional technical equipment besides the projection images themselves. We propose learning the necessary anatomical hints for efficient C-arm positioning from in silico simulations, leveraging masses of 3D CTs. Specifically, we propose a convolutional neural network regression model that predicts 5 degrees of freedom pose updates directly from a first X-ray image. The method is generalizable to different anatomical regions and standard projections. RESULTS: Quantitative and qualitative validation was performed for two clinical applications involving two highly dissimilar anatomies, namely the lumbar spine and the proximal femur. Starting from one initial projection, the mean absolute pose error to the desired standard pose is iteratively reduced across different anatomy-specific standard projections. Acquisitions of both hip joints on 4 cadavers allowed for an evaluation on clinical data, demonstrating that the approach generalizes without retraining. CONCLUSION: Overall, the results suggest the feasibility of an efficient deep learning-based automated positioning procedure, which is trained on simulations. Our proposed 2-stage approach for C-arm positioning significantly improves accuracy on synthetic images. In addition, we demonstrated that learning based on simulations translates to acceptable performance on real X-rays.

Ethanol and formaldehyde fixation irreversibly alter bones' organic matrix.

INTRODUCTION: Biomechanical tests on bones are frequently accomplished in anatomically fixed tissues. The effects of ethanol or formaldehyde based fixation in bone material properties are subject to controversial discussions, regarding their appropriateness and usability to answer clinical questioning or biomechanical issues. We hypothesized that ethanol and formaldehyde irreversibly change bone material properties, and that this effect is mainly related to the bone's organic matrix. MATERIAL AND METHODS: Fixation related alterations in material properties were investigated in six fresh and two macerated human coxal bones by means of three-dimensional laser vibrometry based modal analysis. Ethanol or formaldehyde fixation were performed in one macerated and three unfixed specimens each. Changes in specimen weight and modal frequencies related to fixation, rinsing and drying were obtained. Modal assurance criterion (MAC) values were recorded to determine altered bone anisotropy. RESULTS: Due to fixation, modal frequencies were irreversibly altered in unfixed specimens, indicating weight loss in ethanol and structural changes in formaldehyde fixed specimens. In the macerated and inorganic controls, fixation related weight and modal frequency changes were reversible by rinsing. In the unfixed specimens, bone anisotropy was irreversibly altered by both modes of fixation, whereas the fixation related changes in bony anisotropy were reversible in the macerated controls after rinsing. DISCUSSION: Anatomical fixation that includes ethanol or formaldehyde irreversibly alters material properties of unfixed bones and impacts bone anisotropic properties, caused by changes in the organic matrix. In macerated bones that exclusively consisted of inorganic mineral salts, the observed effects on material properties and anisotropy were reversible. Conclusively, anatomical fixation on basis of ethanol or formaldehyde cannot be recommended, if material characteristics close to the vital state are of interest. Modal analysis is a potential method to gain insight into material properties, revealing the influence of the organic bone matrix on coxal bone elasticity.

Image features for misalignment correction in medical flat-detector CT.

PURPOSE: Misalignment artifacts are a serious problem in medical flat-detector computed tomography. Generally, the geometrical parameters, which are essential for reconstruction, are provided by preceding calibration routines. These procedures are time consuming and the later use of stored parameters is sensitive toward external impacts or patient movement. The method of choice in a clinical environment would be a markerless online-calibration procedure that allows flexible scan trajectories and simultaneously corrects misalignment and motion artifacts during the reconstruction process. Therefore, different image features were evaluated according to their capability of quantifying misalignment. METHODS: Projections of the FORBILD head and thorax phantoms were simulated. Additionally, acquisitions of a head phantom and patient data were used for evaluation. For the reconstruction different sources and magnitudes of misalignment were introduced in the geometry description. The resulting volumes were analyzed by entropy (based on the gray-level histogram), total variation, Gabor filter texture features, Haralick co-occurrence features, and Tamura texture features. The feature results were compared to the back-projection mismatch of the disturbed geometry. RESULTS: The evaluations demonstrate the ability of several well-established image features to classify misalignment. The authors elaborated the particular suitability of the gray-level histogram-based entropy on identifying misalignment artifacts, after applying an appropriate window level (bone window). CONCLUSIONS: Some of the proposed feature extraction algorithms show a strong correlation with the misalignment level. Especially, entropy-based methods showed very good correspondence, with the best of these being the type that uses the gray-level histogram for calculation. This makes it a suitable image feature for online-calibration.

Filtered Backprojection Reconstruction with Depth-Dependent Filtering.

A direct filtered-backprojection (FBP) reconstruction algorithm is presented for circular cone-beam computed tomography (CB-CT) that allows the filter operation to be applied efficiently with shift-variant band-pass characteristics on the kernel function. Our algorithm is derived from the ramp-filter based FBP method of Feldkamp et al. and obtained by decomposing the ramp filtering into a convolution involving the Hilbert kernel (global operation) and a subsequent differentiation operation (local operation). The differentiation is implemented as a finite difference of two (Hilbert filtered) data samples and carried out as part of the backprojection step. The spacing between the two samples, which defines the low-pass characteristics of the filter operation, can thus be selected individually for each point in the image volume. We here define the sample spacing to follow the magnification of the divergent-beam geometry and thus obtain a novel, depth-dependent filtering algorithm for circular CB-CT. We evaluate this resulting algorithm using computer-simulated CB data and demonstrate that our algorithm yields results where spatial resolution and image noise are distributed much more uniformly over the field-of-view, compared to Feldkamp's approach.