Computer-Aided Orthopaedic Surgery: State-of-the-Art and Future Perspectives.

Introduced more than two decades ago, computer-aided orthopaedic surgery (CAOS) has emerged as a new and independent area, due to the importance of treatment of musculoskeletal diseases in orthopaedics and traumatology, increasing availability of different imaging modalities and advances in analytics and navigation tools. The aim of this chapter is to present the basic elements of CAOS devices and to review state-of-the-art examples of different imaging modalities used to create the virtual representations, of different position tracking devices for navigation systems, of different surgical robots, of different methods for registration and referencing, and of CAOS modules that have been realized for different surgical procedures. Future perspectives will be outlined. It is expected that the recent advancement on smart instrumentation, medical robotics, artificial intelligence, machine learning, and deep learning techniques, in combination with big data analytics, may lead to smart CAOS systems and intelligent orthopaedics in the near future.

3X-Knee: A Novel Technology for 3D Preoperative Planning and Postoperative Evaluation of TKA Based on 2D X-Rays.

This chapter introduces a solution called "3X-knee" that can robustly derive 3D models of the lower extremity from 2D long leg standing X-ray radiographs for preoperative planning and postoperative treatment evaluation of total knee arthroplasty (TKA). There are three core components in 3X-knee technology: (1) a knee joint immobilization apparatus, (2) an X-ray image calibration phantom, and (3) a statistical shape model-based 2D-3D reconstruction algorithm. These three components are integrated in a systematic way in 3X-knee to derive 3D models of the complete lower extremity from 2D long leg standing X-ray radiographs acquired in weight-bearing position. More specifically, the knee joint immobilization apparatus will be used to rigidly fix the X-ray calibration phantom with respect to the underlying anatomy during the image acquisition. The calibration phantom then serves two purposes. For one side, the phantom will allow one to calibrate the projection parameters of any acquired X-ray image. For the other side, the phantom also allowsone to track positions of multiple X-ray images of the underlying anatomy without using any additional positional tracker, which is a prerequisite condition for the third component to compute patient-specific 3D models from 2D X-ray images and the associated statistical shape models. Validation studies conducted on both simulated X-ray images and on patients' X-ray data demonstrate the efficacy of the present solution.

Biomechanical Optimization-Based Planning of Periacetabular Osteotomy.

Modern computerized planning tools for periacetabular osteotomy (PAO) use either morphology-based or biomechanics-based methods. The latter rely on estimation of peak contact pressures and contact areas using either patient-specific or constant thickness cartilage models. We performed a finite element analysis investigating the optimal reorientation of the acetabulum in PAO surgery based on simulated joint contact pressures and contact areas using patient-specific cartilage model. Furthermore we investigated the influences of using patient-specific cartilage model or constant thickness cartilage model on the biomechanical simulation results. Ten specimens with hip dysplasia were used in this study. Image data were available from CT arthrography studies. Bone models were reconstructed. Mesh models for the patient-specific cartilage were defined and subsequently loaded under previously reported boundary and loading conditions. Peak contact pressures and contact areas were estimated in the original position. Afterward we used validated preoperative planning software to change the acetabular inclination by an increment of 5° and measured the lateral center-edge angle (LCE) at each reorientation position. The position with the largest contact area and the lowest peak contact pressure was defined as the optimal position. In order to investigate the influence of using patient-specific cartilage model or constant thickness cartilage model on the biomechanical simulation results, the same procedure was repeated with the same bone models but with a cartilage mesh of constant thickness. Comparison of the peak contact pressures and the contact areas between these two different cartilage models showed that good correlation between these two cartilage models for peak contact pressures (r = 0.634 ∈[0.6, 0.8], p < 0.001) and contact areas (r = 0.872 > 0.8, p < 0.001). For both cartilage models, the largest contact areas and the lowest peak pressures were found at the same position. Our study is the first study comparing peak contact pressures and contact areas between patient-specific and constant thickness cartilage models during PAO planning. Good correlation for these two models was detected. Computer-assisted planning with FE modeling using constant thickness cartilage models might be a promising PAO planning tool when a conventional CT is available.

Computer-Assisted Planning, Simulation, and Navigation System for Periacetabular Osteotomy.

Periacetabular osteotomy (PAO) is an effective approach for surgical treatment of hip dysplasia in young adults. However, achieving an optimal acetabular reorientation during PAO is the most critical and challenging step. Routinely, the correct positioning of the acetabular fragment largely depends on the surgeon's experience and is done under fluoroscopy to provide the surgeon with continuous live x-ray guidance. Our developed system starts with a fully automatic detection of the acetabular rim, which allows for quantifying the acetabular 3D morphology with parameters such as acetabular orientation, femoral head extrusion index (EI), lateral center-edge (LCE) angle, and total and regional femoral head coverage (FHC) ratio for computer-assisted diagnosis, planning, and simulation of PAO. Intraoperative navigation is conducted to implement the preoperative plan. Two validation studies were conducted on four sawbone models to evaluate the efficacy of the system intraoperatively and postoperatively. By comparing the preoperatively planned situation with the intraoperatively achieved situation, average errors of 0.6° ± 0.3°, 0.3° ± 0.2°, and 1.1° ± 1.1° were found, respectively, along three motion directions (flexion/extension, abduction/adduction, and external rotation/internal rotation). In addition, by comparing the preoperatively planned situation with the postoperative results, average errors of 0.9° ± 0.3° and 0.9° ± 0.7° were found for inclination and anteversion, respectively.

Ligament balancing in TKA: evaluation of a force-sensing device and the influence of patellar eversion and ligament release.

Ligament balancing in total knee arthroplasty may have an important influence on joint stability and prosthesis lifetime. In order to provide quantitative information and assistance during ligament balancing, a device that intraoperatively measures knee joint forces and moments was developed. Its performance and surgical advantages were evaluated on six cadaver specimens mounted on a knee joint loading apparatus allowing unconstrained knee motion as well as compression and varus-valgus loading. Four different experiments were performed on each specimen. (1) Knee joints were axially loaded. Comparison between applied and measured compressive forces demonstrated the accuracy and reliability of in situ measurements (1.8N). (2) Assessment of knee stability based on condyle contact forces or varus-valgus moments were compared to the current surgical method (difference of varus-valgus loads causing condyle lift-off). The force-based approach was equivalent to the surgical method while the moment-based, which is considered optimal, showed a tendency of lateral imbalance. (3) To estimate the importance of keeping the patella in its anatomical position during imbalance assessment, the effect of patellar eversion on the mediolateral distribution of tibiofemoral contact forces was measured. One fourth of the contact force induced by the patellar load was shifted to the lateral compartment. (4) The effect of minor and major medial collateral ligament releases was biomechanically quantified. On average, the medial contact force was reduced by 20% and 46%, respectively. Large variation among specimens reflected the difficulty of ligament release and the need for intraoperative force monitoring. This series of experiments thus demonstrated the device's potential to improve ligament balancing and survivorship of total knee arthroplasty.

Statistical deformable bone models for robust 3D surface extrapolation from sparse data.

A majority of pre-operative planning and navigational guidance during computer assisted orthopaedic surgery routinely uses three-dimensional models of patient anatomy. These models enhance the surgeon's capability to decrease the invasiveness of surgical procedures and increase their accuracy and safety. A common approach for this is to use computed tomography (CT) or magnetic resonance imaging (MRI). These have the disadvantages that they are expensive and/or induce radiation to the patient. In this paper we propose a novel method to construct a patient-specific three-dimensional model that provides an appropriate intra-operative visualization without the need for a pre or intra-operative imaging. The 3D model is reconstructed by fitting a statistical deformable model to minimal sparse 3D data consisting of digitized landmarks and surface points that are obtained intra-operatively. The statistical model is constructed using Principal Component Analysis from training objects. Our deformation scheme efficiently and accurately computes a Mahalanobis distance weighted least square fit of the deformable model to the 3D data. Relaxing the Mahalanobis distance term as additional points are incorporated enables our method to handle small and large sets of digitized points efficiently. Formalizing the problem as a linear equation system helps us to provide real-time updates to the surgeons. Incorporation of M-estimator based weighting of the digitized points enables us to effectively reject outliers and compute stable models. We present here our evaluation results using leave-one-out experiments and extended validation of our method on nine dry cadaver bones.

Accurate and reliable pose recovery of distal locking holes in computer-assisted intra-medullary nailing of femoral shaft fractures: a preliminary study.

OBJECTIVE: One of the difficult steps in intra-medullary nailing of femoral shaft fractures is distal locking - the insertion of distal interlocking screws. Conventionally, this is performed using repeated image acquisitions, which leads to considerable irradiation of the patient and surgical team. Virtual fluoroscopy has been used to reduce radiation exposure, but can only provide multi-planar two-dimensional projection views. In this study, two calibrated fluoroscopic images were used to automatically recover the positions and orientations of the distal locking holes (DLHs). The ultimate goal is to provide precise three-dimensional guidance during distal locking. METHODS: A model-based optimal fitting process was used to reconstruct the positions and orientations of the DLHs from two calibrated fluoroscopic images. No human intervention is required. A preliminary in vitro validation study was conducted to analyze the accuracy and reliability of the technique using images acquired from different viewpoints. The ground truths of the DLH were obtained by inserting a custom-made steel rod through the hole and then digitizing both the top and bottom centers of the rod using a sharp pointer. The recovery errors were computed by comparing the computed results to the ground truths. RESULTS: In all experiments, the poses of the DLHs could be recovered fully automatically. When the recovered positions and orientations of the DLHs were compared to their associated ground truths, a mean angular error of 0.5 degrees (STD = 0.2 degrees ), and a mean translational error of 0.1 mm (STD = 0.0 mm) were found. CONCLUSIONS: Accurate and reliable pose recovery of distal locking holes from two calibrated fluoroscopic images is achievable. Our preliminary in vitro experimental results demonstrate that the recovered poses of the distal locking holes are sufficiently accurate for intra-operative use.

Image guidance in orthopaedics and traumatology: A historical perspective.

In this note we summarize the history of computer aided surgery in orthopaedics and traumatology from the end of the nineteenth century to currently observable future trends. We concentrate on the two major components of such systems, pre-operative planning and intra-operative execution. The evolution of the necessary technological components, the numerous platforms and components offered commercially as well as their clinical use are surveyed.

Radiographic reconstruction of lower-extremity bone fragments: a first trial.

PURPOSE: The correct rotational alignment of the proximal and the distal bone fragments is an essential step in a long-bone deformity correction process. In order to plan the deformity correction, plain radiographs are conventionally used. But as three-dimensional information of the complex situation is not available, the correct amount of rotation can only be approximated. Thus, the objective of this study was to develop a system to assess the rotational relationship between the proximal and distal fragments of a long bone (tibia or femur) based on a set of two calibrated X-ray radiographs. METHODS: In order to robustly determine the rotational relationship of proximal and distal bone fragments, a statistical shape model-based 2D/3D reconstruction approach was employed. The resulting fragment models were used to determine the angle between its anatomical axes and the rotation around its particular axes. Two different studies were performed to evaluate the accuracy of the proposed system. RESULTS: The accuracy of the complete system was evaluated in terms of major bone axis and in-plane rotational difference. The angle between the anatomical fragment axes could be measured with an average error of 0.33[Formula: see text] ± 0.27[Formula: see text], while an average in-plane rotational error of 2.27[Formula: see text] ± 1.76[Formula: see text]  and 2.67[Formula: see text]  ± 1.80[Formula: see text]  was found for the proximal and distal fragments, respectively. The overall mean surface reconstruction error was 0.81  ± 0.59 mm when the present technique was applied to the tibia and 1.12 ± 0.87 mm when it was applied to the femur. CONCLUSIONS: A new approach for estimating the rotational parameters of long-bone fragments has been proposed. This approach is based on two conventional radiographs and 2D/3D reconstruction technology. It is generally applicable to the alignment of any long-bone fragments and could provide an important means for achieving accurate rotational alignment.

Development of a force amplitude- and location-sensing device designed to improve the ligament balancing procedure in TKA.

To improve the ligament balancing procedure during total knee arthroplasty a force-sensing device to intraoperatively measure knee joint forces and moments has been developed. It consists of two sensitive plates, one for each condyle, a tibial base plate and a set of spaces to adapt the device thickness to the patient-specific tibiofemoral gap. Each sensitive plate is equipped with three deformable bridges instrumented with thick-film piezoresistive sensors, which allow accurate measurements of the amplitude and location of the tibiofemoral contact forces. The net varus-valgus moment is then computed to characterize the ligamentous imbalance. The developed device has a measurement range of 0-500 N and an intrinsic accuracy of 0.5% full scale. Experimental trials on a plastic knee joint model and on a cadaver specimen demonstrated the proper function of the device in situ. The results obtained indicated that the novel force-sensing device has an appropriate range of measurement and a strong potential to offer useful quantitative information and effective assistance during the ligament balancing procedure in total knee arthroplasty.

Computer-assisted LISS plate osteosynthesis of proximal tibia fractures: feasibility study and first clinical results.

Fluoroscopy is the most common tool for the intraoperative control of long-bone fracture reduction. Limitations of this technology include high radiation exposure for the patient and the surgical team, limited visual field, distorted images, and cumbersome verification of image updating. Fluoroscopy-based navigation systems partially address these limitations by allowing fluoroscopic images to be used for real-time surgical localization and instrument tracking. Existing fluoroscopy-based navigation systems are still limited as far as the virtual representation of true surgical reality is concerned. This article, for the first time, presents a reality-enhanced virtual fluoroscopy with radiation-free updates of in situ surgical fluoroscopic images to control metaphyseal fracture reduction. A virtual fluoroscopy is created using the projection properties of the fluoroscope; it allows the display of detailed three-dimensional (3D) geometric models of surgical tools and implants superimposed on the X-ray images. Starting from multiple registered fluoroscopy images, a virtual 3D cylinder model for each principal bone fragment is constructed. This spatial cylinder model not only supplies a 3D image of the fracture, but also allows effective fragment projection recovery from the fluoroscopic images and enables radiation-free updates of in situ surgical fluoroscopic images by non-linear interpolation and warping algorithms. Initial clinical experience was gained during four tibia fracture fixations that were treated by LISS (Less Invasive Stabilization System) osteosynthesis. In the cases operated on, after primary image acquisition, the image intensifier was replaced by the virtual reality system. In all cases, the procedure including fracture reduction and LISS osteosynthesis was performed entirely in virtual reality. A significant disadvantage was the unfamiliar operation of this prototype software and the need for an additional operator for the navigation system.

Computer-Assisted Orthopedic Surgery: Current State and Future Perspective.

Introduced about two decades ago, computer-assisted orthopedic surgery (CAOS) has emerged as a new and independent area, due to the importance of treatment of musculoskeletal diseases in orthopedics and traumatology, increasing availability of different imaging modalities, and advances in analytics and navigation tools. The aim of this paper is to present the basic elements of CAOS devices and to review state-of-the-art examples of different imaging modalities used to create the virtual representations, of different position tracking devices for navigation systems, of different surgical robots, of different methods for registration and referencing, and of CAOS modules that have been realized for different surgical procedures. Future perspectives will also be outlined.

A complete-pelvis segmentation framework for image-free total hip arthroplasty (THA): methodology and clinical study.

BACKGROUND: Complete-pelvis segmentation in antero-posterior pelvic radiographs is required to create a patient-specific three-dimensional pelvis model for surgical planning and postoperative assessment in image-free navigation of total hip arthroplasty. METHODS: A fast and robust framework for accurately segmenting the complete pelvis is presented, consisting of two consecutive modules. In the first module, a three-stage method was developed to delineate the left hemi-pelvis based on statistical appearance and shape models. To handle complex pelvic structures, anatomy-specific information processing techniques were employed. As the input to the second module, the delineated left hemi-pelvis was then reflected about an estimated symmetry line of the radiograph to initialize the right hemi-pelvis segmentation. The right hemi-pelvis was segmented by the same three-stage method, RESULTS: Two experiments conducted on respectively 143 and 40 AP radiographs demonstrated a mean segmentation accuracy of 1.61±0.68 mm. A clinical study to investigate the postoperative assessment of acetabular cup orientations based on the proposed framework revealed an average accuracy of 1.2°±0.9° and 1.6°±1.4° for anteversion and inclination, respectively. Delineation of each radiograph costs less than one minute. CONCLUSIONS: Despite further validation needed, the preliminary results implied the underlying clinical applicability of the proposed framework for image-free THA.

Thoracolumbar spine mechanics contrasted under compression and shear loading.

The mechanical properties of the human spine have been studied extensively in compression, but there remains a lack of fundamental data in shear. The overall goal of this study was to contrast the mechanics of the thoracolumbar functional spinal unit (FSU) under compression and shear-type loads by evaluating endplate deformation, disc pressures, and kinematics between the different loading types. Eleven T12-L1 and one L1-L2 human FSUs were tested. Compression loads consisted of pure compression, extension-compression, flexion-compression, lateral left and right compression applied individually to a maximum of 500 N. Shear loading consisted of posterior, anterior, left, and right shear to a maximum of 500 N. Intervertebral motions, disc pressure, and vertebral body deformations were recorded for all loads. The deformations were measured using strain gauge rosettes at three points on the inferior vertebral body and one on the superior endplate of the inferior vertebra. The disc pressures and endplate deformations measured were significantly less in shear loading compared to compression and did not change significantly with the type of compression load. Vertebral rim strains were generally greater under shear loading compared with compression. The mechanics of load transfer in compression was the production of high disc pressures which were not linearly correlated with the central endplate deformation. In shear, the mechanism appears to be via the annulus fibrosus without the development of significant disc pressure. These differences between compression and shear loading may have implications for injury mechanisms in the thoracolumbar spine.

Fluid flow and convective transport of solutes within the intervertebral disc.

Previous experimental and analytical studies of solute transport in the intervertebral disc have demonstrated that for small molecules diffusive transport alone fulfils the nutritional needs of disc cells. It has been often suggested that fluid flow into and within the disc may enhance the transport of larger molecules. The goal of the study was to predict the influence of load-induced interstitial fluid flow on mass transport in the intervertebral disc. An iterative procedure was used to predict the convective transport of physiologically relevant molecules within the disc. An axisymmetric, poroelastic finite-element structural model of the disc was developed. The diurnal loading was divided into discrete time steps. At each time step, the fluid flow within the disc due to compression or swelling was calculated. A sequentially coupled diffusion/convection model was then employed to calculate solute transport, with a constant concentration of solute being provided at the vascularised endplates and outer annulus. Loading was simulated for a complete diurnal cycle, and the relative convective and diffusive transport was compared for solutes with molecular weights ranging from 400 Da to 40 kDa. Consistent with previous studies, fluid flow did not enhance the transport of low-weight solutes. During swelling, interstitial fluid flow increased the unidirectional penetration of large solutes by approximately 100%. Due to the bi-directional temporal nature of disc loading, however, the net effect of convective transport over a full diurnal cycle was more limited (30% increase). Further study is required to determine the significance of large solutes and the timing of their delivery for disc physiology.

Simulated influence of osteoporosis and disc degeneration on the load transfer in a lumbar functional spinal unit.

As life expectancy increases, age-related disorders and the search for related medical care will expand. Osteoporosis is the most frequent skeletal disease in this context with the highest fracture risk existing for vertebrae. The aging process is accompanied by systemic changes, with the earliest degeneration occurring in the intervertebral discs. The influence of various degrees of disc degeneration on the load transfer was examined using the finite element method. The effect of different possible alterations of the bone quality due to osteoporosis was simulated by adjusting the corresponding material properties and their distribution and several loadings were applied. An alteration of the load transfer, characterised by changed compression stiffness and strain distributions as well as magnitudes, due to osteoporotic bone and degenerated discs was found. When osteoporosis was simulated, the stiffness was substantially decreased, larger areas of the cancellous bone were subjected to higher strains and strain maxima were increased. Increasing ratios of transverse isotropy in the osteoporotic bone yielded smaller effects than reduced bone properties. Including a degenerated disc mainly altered the strain distribution. Combining osteoporosis and degenerated discs reduced the areas of cancellous bone subjected to substantial strain. Based on these results, it can be concluded that the definition of a healthy disc in osteoporotic spines might be considered as a worst-case scenario. One attempt to evaluate the progress of osteoporosis can be made by introducing increasing degrees of anisotropy. If several parameters in a model are changed to simulate degeneration, it should be pointed out how each individual definition influences the overall result.

On the development and comparative evaluation of an ultrasound B-mode probe calibration method.

OBJECTIVE: Precise transducer calibration is an essential prerequisite for reliable surface registration based on ultrasound B-mode imaging devices. The clinical usage of a novel B-mode transducer calibration technique was evaluated and its attainable calibration precision assessed. MATERIALS AND METHODS: The Three Wire Method and the Cambridge Calibration Method were used as reference techniques to compare the efficiency, calibration precision and spatial requirements of the different techniques. A total of 20 calibration trials were performed using each technique and were statistically evaluated for accuracy and speed. RESULTS: The mean error characterizing the calibration precision of the Three Wire Method was 3.2 mm, obtained in a phantom with a volume of 14 x 10(6) mm(3) in 18.48 min. The Cambridge method resulted in a mean calibration error of 2.2 mm, but required a larger phantom with a volume of 35 x 10(6) mm3 to be used for a duration of 9.30 min. The proposed method yielded an average calibration error of 1.9 mm and was performed, on average, in 2 min using a phantom with a size smaller than 1 x 10(6) mm3. CONCLUSIONS: The suggested calibration method offers decreased time and space while retaining an equivalent calibration precision when compared to established reference methods.

Statistical model-based segmentation of the proximal femur in digital antero-posterior (AP) pelvic radiographs.

PURPOSE: Segmentation of the proximal femur in digital antero-posterior (AP) pelvic radiographs is required to create a three-dimensional model of the hip joint for use in planning and treatment. However, manually extracting the femoral contour is tedious and prone to subjective bias, while automatic segmentation must accommodate poor image quality, anatomical structure overlap, and femur deformity. A new method was developed for femur segmentation in AP pelvic radiographs. METHODS: Using manual annotations on 100 AP pelvic radiographs, a statistical shape model (SSM) and a statistical appearance model (SAM) of the femur contour were constructed. The SSM and SAM were used to segment new AP pelvic radiographs with a three-stage approach. At initialization, the mean SSM model is coarsely registered to the femur in the AP radiograph through a scaled rigid registration. Mahalanobis distance defined on the SAM is employed as the search criteria for each annotated suggested landmark location. Dynamic programming was used to eliminate ambiguities. After all landmarks are assigned, a regularized non-rigid registration method deforms the current mean shape of SSM to produce a new segmentation of proximal femur. The second and third stages are iteratively executed to convergence. RESULTS: A set of 100 clinical AP pelvic radiographs (not used for training) were evaluated. The mean segmentation error was 0.96 mm ± 0.35 mm, requiring <5 s per case when implemented with Matlab. The influence of the initialization on segmentation results was tested by six clinicians, demonstrating no significance difference. CONCLUSIONS: A fast, robust and accurate method for femur segmentation in digital AP pelvic radiographs was developed by combining SSM and SAM with dynamic programming. This method can be extended to segmentation of other bony structures such as the pelvis.

X-ray image calibration and its application to clinical orthopedics.

X-ray imaging is one of the most commonly used medical imaging modality. Albeit X-ray radiographs provide important clinical information for diagnosis, planning and post-operative follow-up, the challenging interpretation due to its 2D projection characteristics and the unknown magnification factor constrain the full benefit of X-ray imaging. In order to overcome these drawbacks, we proposed here an easy-to-use X-ray calibration object and developed an optimization method to robustly find correspondences between the 3D fiducials of the calibration object and their 2D projections. In this work we present all the details of this outlined concept. Moreover, we demonstrate the potential of using such a method to precisely extract information from calibrated X-ray radiographs for two different orthopedic applications: post-operative acetabular cup implant orientation measurement and 3D vertebral body displacement measurement during preoperative traction tests. In the first application, we have achieved a clinically acceptable accuracy of below 1° for both anteversion and inclination angles, where in the second application an average displacement of 8.06±3.71 mm was measured. The results of both applications indicate the importance of using X-ray calibration in the clinical routine.

Comparison of partial least squares regression and principal component regression for pelvic shape prediction.

This paper studied two different regression techniques for pelvic shape prediction, i.e., the partial least square regression (PLSR) and the principal component regression (PCR). Three different predictors such as surface landmarks, morphological parameters, or surface models of neighboring structures were used in a cross-validation study to predict the pelvic shape. Results obtained from applying these two different regression techniques were compared to the population mean model. In almost all the prediction experiments, both regression techniques unanimously generated better results than the population mean model, while the difference on prediction accuracy between these two regression methods is not statistically significant (α=0.01).