Bi-Planar Trajectory Tracking with a Novel 3DOF Cable Driven Lower Limb Rehabilitation Exoskeleton (C-LREX).

Although Cable-driven rehabilitation devices (CDRDs) have several advantages over traditional link-driven devices, including their light weight, ease of reconfiguration, and remote actuation, the majority of existing lower-limb CDRDs are limited to rehabilitation in the sagittal plane. In this work, we proposed a novel three degrees of freedom (DOF) lower limb model which accommodates hip abduction/adduction motion in the frontal plane, as well as knee and hip flexion/extension in the sagittal plane. The proposed model was employed to investigate the feasibility of using bi-planar cable routing to track a bi-planar reference healthy trajectory. Various possible routings of four cable configurations were selected and studied with the 3DOF model. The optimal locations of the hip cuffs were determined using optimization. When compared with the five-cable routing configuration, the four-cable routing produced higher joint forces, which motivated the future study of other potential cable routing configurations and their ability to track bi-planar motion.

Assessing component orientation of total hip arthroplasty using the low-dose bi-planar radiographs.

BACKGROUND: Three-dimensional computed tomography (3D CT) reconstruction is the reference standard for measuring component orientation. However, functional cup orientation in standing position is preferable compared with supine position. The low-dose bi-planar radiographs can be used to analyze standing cup component orientation. We aimed to assess the validity and reliability of the component orientation using the low-dose bi-planar radiographs compared with the 3D CT reconstruction, and explore the differences between the functional cup orientation in standing radiographs and supine CT scans. METHODS: A retrospective study, including 44 patients (50 hips) with total hip arthroplasty (THA), was conducted. CT scans were taken 1 week after surgery and the low-dose bi-planar radiographs were taken in the follow-up 6 weeks later. Component orientation measurement was performed using the anterior pelvic plane and the radiographic coronal plane as reference, respectively. RESULTS: The study showed no significant difference in cup anteversion (p = 0.160), cup inclination (p = 0.486), and stem anteversion (p = 0.219) measured by the low-dose bi-planar radiographs and 3D reconstruction. The differences calculated by the Bland-Altman analysis ranged from - 0.4° to 0.6° for the three measured angles. However, the mean absolute error was 4.76 ± 1.07° for functional anteversion (p = 0.035) and 4.02 ± 1.08° for functional inclination (p = 0.030) measured by the bi-planar radiographs and supine CT scans. CONCLUSIONS: The low-dose bi-planar radiographs are the same reliable and accurate as 3D CT reconstruction to assess post-THA patients' component orientation, while providing more valuable functional component orientation than supine CT scans.

Three-Dimensional Kinematic Coupling of the Healthy Knee During Treadmill Walking.

Accurate joint kinematics plays an important role in estimating joint kinetics in musculoskeletal simulations. Biplanar fluoroscopic (BPF) systems have been introduced to measure skeletal kinematics with six degrees-of-freedom. The purpose of this study was to model knee kinematic coupling using knee kinematics during walking, as measured by the BPF system. Seven healthy individuals (mean age, 23 ± 2 yr) performed treadmill walking trials at 1.2 m/s. Knee kinematics was regressed separately for the swing and stance phases using a generalized mixed effects model. Tibial anterior translation function was y=0.20x-3.09 for the swing phase and y=0.31x-0.54 for the stance phase, where x was the flexion angle and y was the tibial anterior translation. Tibial lateral and inferior translation were also regressed separately for the stance phase and the swing phase. Tibial external rotation was y=-0.002x2+0.19x-0.64 for the swing phase and y=-0.19x-1.22 for the stance phase. The tibial adduction rotation function was also calculated separately for the stance and swing phase. The study presented three-dimensional coupled motion in the knee during the stance and swing phases of walking, and demonstrated the lateral pivoting motion found in previous studies. This expanded understanding of secondary knee motion functions will benefit musculoskeletal simulation and help improve the accuracy of calculated kinetics.

Error Analysis and Experimental Study of a Bi-Planar Parallel Mechanism in a Pedicle Screw Robot System.

Due to the urgent need for high precision surgical equipment for minimally invasive spinal surgery, a novel robot-assistant system was developed for the accurate placement of pedicle screws in lumbar spinal surgeries. The structure of the robot was based on a macro-micro mechanism, which includes a serial mechanism (macro part) and a bi-planar 5R parallel mechanism (micro part). The macro part was used to achieve a large workspace, while the micro part was used to obtain high stiffness and accuracy. Based on the transfer function of dimension errors, the factors affecting the accuracy of the end effectors were analyzed. Then the manufacturing errors and joint angle error on the position-stance of the end effectors were investigated. Eventually, the mechanism of the strain energy produced by the deformation of linkage via forced assembly and displacements of the output point were calculated. The amount of the transfer errors was quantitatively analyzed by the simulation. Experimental tests show that the error of the bi-planar 5R mechanism can be controlled no more than 1 mm for translation and 1° for rotation, which satisfies the required absolute position accuracy of the robot.

Assessing intraoperative pedicle screw placement accuracy using biplanar radiographs compared to three-dimensional imaging.

To date, biplanar imaging (2D) has been the method of choice for pedicle screw (PS) positioning and verified for the anteroposterior view and (spinal midline) M-line method. In recent years, the use of intraoperative three-dimensional (3D) imaging has become available with the Gertzbein-Robbins system (GRS) to assess PS breach and positioning confirmation. The aim is to determine if 2D imaging is sufficient to assess PS position in comparison to advanced 3D imaging.Retrospective review of prospectively collected data from 204 consecutive adult patients who underwent posterior thoracic and lumbar instrumented fusion for degenerative spinal surgery by a single surgeon (2019-2022).Of the 204 patients, 187 (91.6%) had intraoperative images available for analysis. A total of 1044 PS implants were used; 922 (88.3%) were robotically placed. Postoperative CT scans were verified with M-line/GRS findings. Among 103 patients (50.5%) with a total of 362 screws, (34.7%) had postoperative CT, intraoperative 3D scan, and intraoperative 2D scan for analysis. Postoperative CT findings were consistent with all GRS findings, validating that 3D imaging was accurate. Screws (1%) were falsely verified by the M-line as 3D imaging confirmed false negative or positive findings.In our series, intraoperative 3D scan was as accurate as postoperative CT scan in assessing PS breach. A significant number of PS may be falsely read as accurate on 2D imaging, that is in fact inaccurate when assessed on 3D imaging. An intraoperative post-instrumentation 3D scan may be preferable to prevent postoperative recognition of a falsely verified screw on biplanar imaging.

DP-GAN+B: A lightweight generative adversarial network based on depthwise separable convolutions for generating CT volumes.

X-rays, commonly used in clinical settings, offer advantages such as low radiation and cost-efficiency. However, their limitation lies in the inability to distinctly visualize overlapping organs. In contrast, Computed Tomography (CT) scans provide a three-dimensional view, overcoming this drawback but at the expense of higher radiation doses and increased costs. Hence, from both the patient's and hospital's standpoints, there is substantial medical and practical value in attempting the reconstruction from two-dimensional X-ray images to three-dimensional CT images. In this paper, we introduce DP-GAN+B as a pioneering approach for transforming two-dimensional frontal and lateral lung X-rays into three-dimensional lung CT volumes. Our method innovatively employs depthwise separable convolutions instead of traditional convolutions and introduces vector and fusion loss for superior performance. Compared to prior models, DP-GAN+B significantly reduces the generator network parameters by 21.104 M and the discriminator network parameters by 10.82 M, resulting in a total reduction of 31.924 M (44.17%). Experimental results demonstrate that our network can effectively generate clinically relevant, high-quality CT images from X-ray data, presenting a promising solution for enhancing diagnostic imaging while mitigating cost and radiation concerns.

Assessment of spinal alignment in standing position using Biplanar X-ray images and three-dimensional vertebral models.

We developed two methods for three-dimensional (3D) evaluation of spinal alignment in standing position by image matching between biplanar x-ray images and 3D vertebral models. One used a Slot-Scanning 3D x-ray Imager (sterEOS) to obtain biplanar x-ray images, and the other used a conventional x-ray system and a rotating table. The 3D vertebral model was constructed from the CT scan data. The spatial position of the vertebral model was determined by minimizing the contour difference between the projected image of the model and the biplanar x-ray images. Verification experiments were conducted using a torso phantom. The relative positions of the upper vertebrae to the lowest vertebrae of the cervical, thoracic, and lumbar vertebrae were evaluated. The mean, standard deviation, and mean square error of the relative position were less than 1° and 1 mm in all cases for sterEOS. The maximum mean squared errors of the conventional x-ray system and the rotating table were 0.7° and 0.4 mm for the cervical spine, 1.0° and 1.2 mm for the thoracic spine, and 1.1° and 1.2 mm for the lumbar spine. Therefore, both methods could be useful for evaluating the spinal alignment in standing position.

In Situ Study of the Magnetic Field Gradient Produced by a Miniature Bi-Planar Coil for Chip-Scale Atomic Devices.

The miniaturization of quantum sensors is a popular trend for the development of quantum technology. One of the key components of these sensors is a coil which is used for spin modulation and manipulation. The bi-planar coils have the advantage of producing three-dimensional magnetic fields with only two planes of current confinement, whereas the traditional Helmholtz coils require three-dimensional current distribution. Thus, the bi-planar coils are compatible with the current micro-fabrication process and are quite suitable for the compact design of the chip-scale atomic devices that require stable or modulated magnetic fields. This paper presents a design of a miniature bi-planar coil. Both the magnetic fields produced by the coils and their inhomogeneities were designed theoretically. The magnetic field gradient is a crucial parameter for the coils, especially for generating magnetic fields in very small areas. We used a NMR (Nuclear Magnetic Resonance) method based on the relaxation of 131Xe nuclear spins to measure the magnetic field gradient in situ. This is the first time that the field inhomogeneities of the field of such small bi-planar coils have been measured. Our results indicate that the designed gradient caused error is 0.08 for the By and the Bx coils, and the measured gradient caused error using the nuclear spin relaxation method is 0.09±0.02, suggesting that our method is suitable for measuring gradients. Due to the poor sensitivity of our magnetometer under a large Bz bias field, we could not measure the Bz magnetic field gradient. Our method also helps to improve the gradients of the miniature bi-planar coil design, which is critical for chip-scale atomic devices.

BX2S-Net: Learning to reconstruct 3D spinal structures from bi-planar X-ray images.

Grasping good understanding of the weight-bearing spatial structure of the spine of a human subject in a standing position is critical for the treatment of spinal disorders. Such disorders are commonly diagnosed via 2D X-ray imaging of the human subject in a standing position. However, 3D reconstruction techniques based on bi-planar X-ray imaging can enable better exploration and analysis of the spinal structure. In particular, compared to earlier deformable modeling approaches, the recently-developed deep-learning-based 3D reconstruction methods exhibit higher efficiency and generalizability. But these methods usually employ simple architectures with 2D encoders and 3D decoders. Thus, these methods have several drawbacks, namely, the existence of a semantic gap between dimensionally-inconsistent feature maps, the difficulty of jointly handling multi-view inputs, and the information source limitations for the decoding process. In order to better assist clinicians and tackle these problems, we propose a novel convolutional neural network framework, which we call BX2S-Net, to effectively achieve 3D spine reconstruction based on bi-planar X-ray images. In particular, a dimensionally-consistent encoder-decoder architecture is designed in conjunction with a dimensionality enhancement method in order to reduce the semantic gap between feature maps and achieve information fusion for multi-view inputs. A feature-guided progressive decoding process is developed on the decoder side, where a full-scale feature attention guidance (FFAG) module is introduced to efficiently aggregate image features and guide the decoding process at each level. In addition, a class augmentation method and a spatially-weighted cross-entropy loss function are used for network training with improved reconstruction quality for the vertebral edge region. The experimental results demonstrate the effectiveness of our model in reconstructing high-quality 3D spinal structures from bi-planar X-ray images. The code is available at https://github.com/NBU-CVMI/bx2s-net.

A novel method for assigning bone material properties to a comprehensive patient-specific pelvic finite element model using biplanar multi-energy radiographs.

The increasing prevalence of adult spinal deformity requires long spino-pelvic instrumentation, but pelvic fixation faces challenges due to distal forces and reduced bone quality. Bi-planar multi-energy X-rays (BMEX) were used to develop a patient-specific finite element model (FEM) for evaluating pelvic fixation. Calibration involved 10 patients, and an 81-year-old female test case was used for FEM customization and pullout simulation validation. Calibration yielded a root mean square error of 74.7 mg/cm3 for HU. The simulation accurately replicated the experimental pullout test with a force of 565 N, highlighting the method's potential for optimizing biomechanical performance for pelvic fixation.

Virtual Scoliosis Surgery Using a 3D-Printed Model Based on Biplanar Radiographs.

The aim of this paper is to describe a protocol that simulates the spinal surgery undergone by adolescents with idiopathic scoliosis (AIS) by using a 3D-printed spine model. Patients with AIS underwent pre- and postoperative bi-planar low-dose X-rays from which a numerical 3D model of their spine was generated. The preoperative numerical spine model was subsequently 3D printed to virtually reproduce the spine surgery. Special consideration was given to the printing materials for the 3D-printed elements in order to reflect the radiopaque and mechanical properties of typical bones most accurately. Two patients with AIS were recruited and operated. During the virtual surgery, both pre- and postoperative images of the 3D-printed spine model were acquired. The proposed 3D-printing workflow used to create a realistic 3D-printed spine suitable for virtual surgery appears to be feasible and reliable. This method could be used for virtual-reality scoliosis surgery training incorporating 3D-printed models, and to test surgical instruments and implants.

Kinematic instability in the joints of flatfoot subjects during walking: A biplanar fluoroscopic study.

Abnormal foot kinematics is observed in flatfoot subjects with postural foot deformity. We aimed to investigate joint instability in flatfoot subjects by analyzing the abnormal rotational position and speed of their joints while walking. Five flatfoot subjects participated in our study. Three-dimensional motions of the tibia, talus, calcaneus, navicular, and cuboid were obtained during walking using the biplanar fluoroscopic motion analyses. An anatomical coordinate system was established for each bone. The rotations and ranges of motion (ROMs) of the joints from heel-strike to toe-off were quantified. The relative movements on the articular surfaces were quantified by surface relative velocity vector analysis. The data from flat foot subjects were compared with the data from normal foot subjects in previous studies. The average relative speed on the articular surface of the tibiotalar, subtalar, and calcaneocuboid joints for the flatfoot subjects was significantly higher (p < 0.05) than that for the normal foot subjects. The flatfoot subjects exhibited increased movements toward plantar flexion in the tibiotalar joint, and eversion and external rotations in the talonavicular joint during the stance phase, compared to the normal subjects (p < 0.01). Furthermore, the flatfoot subjects had a significantly larger ROM along with the inversion/eversion rotations (5.6 ± 1.8° vs. 10.7 ± 4.0°) and internal/external rotations (7.1 ± 1.5° vs. 10.5 ± 3.5°) in the tibiotalar joint. The flatfoot subjects demonstrated abnormal kinematics and larger joint movements in multiple joints during the mid-stance and terminal stance phases of walking. This demonstrates their high instability levels.

Subject-Specific Alignment and Mass Distribution in Musculoskeletal Models of the Lumbar Spine.

Musculoskeletal modeling is a well-established method in spine biomechanics and generally employed for investigations concerning both the healthy and the pathological spine. It commonly involves inverse kinematics and optimization of muscle activity and provides detailed insight into joint loading. The aim of the present work was to develop and validate a procedure for the automatized generation of semi-subject-specific multi-rigid body models with an articulated lumbar spine. Individualization of the models was achieved with a novel approach incorporating information from annotated EOS images. The size and alignment of bony structures, as well as specific body weight distribution along the spine segments, were accurately reproduced in the 3D models. To ensure the pipeline's robustness, models based on 145 EOS images of subjects with various weight distributions and spinopelvic parameters were generated. For validation, we performed kinematics-dependent and segment-dependent comparisons of the average joint loads obtained for our cohort with the outcome of various published in vivo and in situ studies. Overall, our results agreed well with literature data. The here described method is a promising tool for studying a variety of clinical questions, ranging from the evaluation of the effects of alignment variation on joint loading to the assessment of possible pathomechanisms involved in adjacent segment disease.

Does the condylar lift-off method or the separation method better detect loss of contact between tibial and femoral implants based on analysis of single-plane radiographs following total knee arthroplasty?

BACKGROUND: Loss of contact between the femoral and tibial implants following total knee arthroplasty (TKA) has been related to accelerated polyethylene wear and other complications. Two methods have been used to detect loss of contact in single-plane fluoroscopy, the condylar lift-off method and the separation method. The objectives were to assess the ability of each method to detect loss of contact. METHODS: TKA was performed on ten cadaveric knee specimens. Tibial force was measured in each compartment as specimens were flexed from 0° to 90° while internal-external and varus-valgus moments were applied. Single-plane radiographs taken simultaneously with tibial force were analyzed for loss of contact using the two methods. Receiver operating characteristic (ROC) and optimum threshold distances were determined. RESULTS: For the lift-off method and the separation method, the areas under the ROC curves were 0.89 vs 0.60 for the lateral compartment only and 0.81 vs 0.70 for the medial compartment only, respectively. For the lift-off method, the optimum threshold distances were 0.7 mm in the lateral compartment only and 0.1 mm in the medial compartment only but the false positive rate for the medial compartment only almost doubled. For both compartments jointly, the areas under the ROC curves decreased to 0.70 and 0.59 for the lift-off and separation methods, respectively. CONCLUSION: When detecting loss of contact using single-plane fluoroscopy, the lift-off method is useful for the lateral compartment only but not for the medial compartment only and not for both compartments jointly. The separation method is not useful.

Evaluation of a Bi-Planar Robot Navigation System for Insertion of Cannulated Screws in Femoral Neck Fractures.

OBJECTIVE: To evaluate the bi-planar robot navigation system for insertion of cannulated screws in femoral neck fractures. METHOD: Between January 2016 and December 2016, 60 patients with femoral neck fractures were separately treated using percutaneous cannulated screws assisted by the bi-planar robot navigation system (robot group) and conventional freehand surgery (freehand group). The fluoroscopy time, the number of drilling attempts, and the operation time were recorded during operations; the dispersion and parallelism of the cannulated screws on the posteroanterior and lateral images were measured after operations. Patients were followed up for 12-24 months and the Harris scores and the final results of the two groups were compared. RESULTS: During bi-planar robot navigation system-assisted surgery, the fluoroscopy time for acquisition of images was 2.3 seconds on average, and the time for planning screws during the operation was 2.8 min on average. The average fluoroscopy time during the placement of the guide pin was 5.7 seconds and 14.14 seconds (P = 0.00), respectively. The average time of the placement of the cannulated screws was 12.7 min and 19.4 min (P = 0.00), respectively, in the robot group and the freehand group. In the robot group, only one guide pin was replaced during the operation, and the average number of adjustments for each guide pin was 2.39 in the freehand group. The screw parallelism and dispersion measured by postoperative imaging in the robot group were significantly superior to those in the freehand group. From postoperative CT it was evident that there were 5 cases of screws exiting the posterior cortex in both groups. During the follow-up phase, 1 case of femoral head necrosis and 5 cases of femoral neck shortening of more than 10 mm occurred in the robotic navigation group; 3 cases of femoral head necrosis, 1 case of fracture nonunion, and 2 cases of shortening of more than 10 mm occurred in the freehand group. At 18 months after surgery, the average Harris scores of the patients were 85.20 and 83.45, respectively, with no significant difference. CONCLUSION: Using bi-planar robot navigation system-assisted placement of femoral neck cannulated screws can significantly reduce the time of intraoperative fluoroscopy, drilling attempts, and operation time. The placed screws are superior to the screws placed freehand in relation to parallelism and dispersion. However, it is still necessary for surgeons to have a good reduction of the femoral neck fracture before surgery and to be proficient in the operation of the robot navigation system. In summary, the bi-planar robot navigation system is an effective assistant instrument for surgery.

Vertebral strength prediction from Bi-Planar dual energy x-ray absorptiometry under anterior compressive force using a finite element model: An in vitro study.

Finite element models (FEM) derived from qCT-scans were developed as a clinical tool to evaluate vertebral strength. However, the high dose, time and cost of qCT-scanner are limitations for routine osteoporotic diagnosis. A new approach considers using bi-planar dual energy (BP2E) X-rays absorptiometry to build vertebral FEM using synchronized sagittal and frontal plane radiographs. The purpose of this study was to compare the performance of the areal bone mineral density (aBMD) measured from DXA, qCT-based FEM and BP2E-based FEM in predicting experimental vertebral strength. Twenty eight vertebrae from eleven lumbar spine segments were imaged with qCT, DXA and BP2E X-rays before destructively tested in anterior compression. FEM were built based on qCT and BP2E images for each vertebra. Subject-specific FEM were built based on 1) the BP2E images using 3D reconstruction and volumetric BMD distribution estimation and 2) the qCT scans using slice by slice segmentation and voxel based calibration. Linear regression analysis was performed to find the best predictor for experimental vertebral strength (Fexpe); aBMD, modeled vertebral strength and vertebral stiffness. Areal BMD was moderately correlated with Fexpe (R2 = 0.74). FEM calculations of vertebral strength were highly to strongly correlated with Fexpe (R2 = 0.84, p < 0.001 for BP2E model and R2 = 0.95, p < 0.001 for qCT model). The results of this study suggest that aBMD accounted for only 74% of Fexpe variability while FE models accounted for at least 84%. For anterior compressive loading on isolated vertebral bodies, simplistic loading condition aimed to replicate anterior wedge fractures, both FEM were good predictors of Fexpe. Therefore FEM based on BP2E X-rays absorptiometry could be a good alternative to replace qCT-based models in the prediction of vertebral strength. However future work should investigate the performance of the BP2E-based model in vivo in discriminating patients with and without vertebral fracture in a prospective study.

Tibio-femoral joint contact in healthy and osteoarthritic knees during quasi-static squat: A bi-planar X-ray analysis.

The aim of this study was to quantify the tibio-femoral contact point (CP) locations in healthy and osteoarthritic (OA) subjects during a weight-bearing squat using stand-alone biplanar X-ray images. Ten healthy and 9 severe OA subjects performed quasi-static squats. Bi-planar X-ray images were recorded at 0°, 15°, 30°, 45°, and 70° of knee flexion. A reconstruction/registration process was used to create 3D models of tibia, fibula, and femur from bi-planar X-rays and to measure their positions at each posture. A weighted centroid of proximity algorithm was used to calculate the tibio-femoral CP locations. The accuracy of the reconstruction/registration process in measuring the quasi-static kinematics and the contact parameters was evaluated in a validation study. The quasi-static kinematics data revealed that in OA knees, adduction angles were greater (p<0.01), and the femur was located more medially relative to the tibia (p<0.01). Similarly, the average CP locations on the medial and lateral tibial plateaus of the OA patients were shifted (6.5±0.7mm; p<0.01) and (9.6±3.1mm; p<0.01) medially compared to the healthy group. From 0° to 70° flexion, CPs moved 8.1±5.3mm and 8.9±5.3mm posteriorly on the medial and lateral plateaus of healthy knees; while in OA joints CPs moved 10.1±8.4mm and 3.6±2.8mm posteriorly. The average minimum tibio-femoral bone-to-bone distances of the OA joints were lower in both compartments (p<0.01). The CPs in the OA joints were located more medially and displayed a higher ratio of medial to lateral posterior translations compared to healthy joints.

Plantar-flexion of the ankle joint complex in terminal stance is initiated by subtalar plantar-flexion: A bi-planar fluoroscopy study.

Gross motion of the ankle joint complex (AJC) is a summation of the ankle and subtalar joints. Although AJC kinematics have been widely used to evaluate the function of the AJC, the coordinated movements of the ankle and subtalar joints are not well understood. The purpose of this study was to accurately quantify the individual kinematics of the ankle and subtalar joints in the intact foot during ground walking by using a bi-planar fluoroscopic system. Bi-planar fluoroscopic images of the foot and ankle during walking and standing were acquired from 10 healthy subjects. The three-dimensional movements of the tibia, talus, and calcaneus were calculated with a three-dimensional/two-dimensional registration method. The skeletal kinematics were quantified from 9% to 86% of the full stance phase because of the limited camera speed of the X-ray system. At the beginning of terminal stance, plantar-flexion of the AJC was initiated in the subtalar joint on average at 75% ranging from 62% to 76% of the stance phase, and plantar-flexion of the ankle joint did not start until 86% of the stance phase. The earlier change to plantar-flexion in the AJC than the ankle joint due to the early plantar-flexion in the subtalar joint was observed in 8 of the 10 subjects. This phenomenon could be explained by the absence of direct muscle insertion on the talus. Preceding subtalar plantar-flexion could contribute to efficient and stable ankle plantar-flexion by locking the midtarsal joint, but this explanation needs further investigation.

An experimental study of cannulated screw fixation of femoral neck fractures aided by the bi-planar navigation robot system / 中华创伤骨科杂志

Objective To investigate clinical feasibility, security, and effects of cannulated screw fixation of femoral neck fractures aided by the bi-planar navigation robot system. Methods Under the guidance of the robot system which was developed jointly by Beijing Aeronautics and Space University and our hospital, 15 pins were inserted into the femoral necks of 5 Synbone models. The difference between the distance of any 2 points at the entry point and that at the outlet point was measured in the 5 cases. The ratio (P) of the difference to the length of the pin within the femoral neck of the Synbone models was calculated to evaluate how parallel the 2 pins were. The fluoroscopic times and the radiation exposure time in the robot-aided treatment were recorded and compared with those in the 12 cases of conventional operations which were conducted in our department from June to September, 2005. Results P was about 0.003 7 to 0.018 1, and the X-ray exposure time in robot aided system was 2.32 s vs 28.30 s in the conventional operations. The average fluoroscopic times in robot aided system were 4.4 vs 54.3 in the conventional operations. Conclusion As the bi-planar navigation robot system can provide accurate space orientation and stable navigation route, and can decrease the X-ray radiation to the patient and staff, it has a significant value in clinical application.