Clinical results of percutaneous pelvic surgery. Computer assisted surgery using ultrasound compared to standard fluoroscopy

Modified percutaneous iliosacral screw and anterior internal fixator technique for treating unstable pelvic fractures: a retrospective study

BACKGROUND

The commonly used technique for treating unstable pelvic fractures with sacroiliac screws and anterior internal fixator (INFIX) is prone to complications, such as injury to the pelvic vasculature and nerves, life-threatening bleeding, lateral femoral cutaneous neuritis, and wound infection. This study investigated the clinical effects of using a modified percutaneous iliosacral screw and INFIX technique for treating unstable pelvic fractures.

METHODS

A retrospective analysis of minimally invasive internal fixation using modified incision of an anterior-ring INFIX application combined with modified percutaneous iliosacral screw placement was performed for 22 cases of unstable pelvic fractures from January 2017 to December 2018. Based on the Tile classification, there were 4 type B1, 7 type B2, 5 type B3 and 6 type C1 injuries. Preoperatively, the length and orientation of the internal fixation were computer-simulated and measured. On postoperative day 3, pelvic radiographs and three-dimensional computed tomograms were used to assess fracture reduction and fixation. All patients were regularly followed up at 4 weeks, 12 weeks, 6 months, 12 months, 24 months and annually thereafter. Fracture healing, complications, visual analogue scale (VAS) scores, the quality of fracture repositioning and Majeed score were assessed during follow-up.

RESULTS

All patients were followed up for a mean of 25.23 ± 1.48 months. All fractures healed without loss of reduction and no patient showed evidence of delayed union or nonunion. Two years postoperatively, the mean VAS score was 0.32 ± 0.09 and the mean Majeed score was 94.32 ± 1.86.

CONCLUSION

The modified percutaneous iliosacral screw technique increases the anterior tilt of the sacroiliac screw by shifting the entry point posteriorly to increase the safety of the screw placement. Downward modification of the INFIX incision reduces the risk of lateral femoral cutaneous nerve injury. This technique is safe, effective and well tolerated by patients.

An anatomical study defining the safe range of angles in percutaneous iliosacral and transsacral screw fixation

Percutaneous iliosacral screw fixation and transsacral fixation are challenging procedures requiring extensive knowledge of sacral anatomy to avoid damaging nearby neurovascular structures. Greater knowledge of anatomical screw trajectory and size allowances would be helpful to guide surgical placement. An anatomical study of 40 cadaveric sacra in specimens ages 18-65 was performed. Three-dimensional surface scans were obtained, and computer modeling software was used to simulate a 7.3 mm diameter screw with 1 mm buffer inserted orthogonal to the sacroiliac joint in the pelvic inlet and outlet views. Transsacral screws were also inserted into S1 and S2 vertebrae. For screws orthogonal to the sacroiliac joint, the overall mean screw insertion angle was 4.1° ± 7.5° (range, -18.3° to 22.0°) in the inlet view in the posterior to anterior direction, and 21.7° ± 5.1° (range, 8.2°-36.3°) in the outlet view in the caudal to cranial direction. Before breaching the sacrum, the range of sacral tunnel lengths was between 31.1 and 70.1 mm with a range of diameters between 9.3 and 13.3 mm. Transsacral screws inserted into either the S1 or S2 vertebrae did not breach the sacrum in 40% (16/40) at each level. 30% (12/40) of sacra could not safely accommodate both S1 and S2 transsacral screws. There is an initial screw insertion angle range of -4° to 12° in the inlet view and 16°-27° in the outlet view. There was always adequate size to accept a 7.3 mm or larger screw.

Two-Dimensional Visualization of the Three-Dimensional Planned Sacroiliac Screw Corridor with the Slice Fusion Method

Insertion of sacro-iliac (SI) screws for stabilization of the posterior pelvic ring without intraoperative navigation or three-dimensional imaging can be challenging. The aim of this study was to develop a simple method to visualize the ideal SI screw corridor, on lateral two-dimensional images, corresponding to the lateral fluoroscopic view, used intraoperatively while screw insertion, to prevent neurovascular injury. We used multiplanar reconstructions of pre- and postoperative computed tomography scans (CT) to determine the position of the SI corridor. Then, we processed the dataset into a lateral two-dimensional slice fusion image (SFI) matching head and tip of the screw. Comparison of the preoperative SFI planning and the screw position in the postoperative SFI showed reproducible results. In conclusion, the slice fusion method is a simple technique for translation of three-dimensional planned SI screw positioning into a two-dimensional strict lateral fluoroscopic-like view.

Posterior pelvic ring bone density with implications for percutaneous screw fixation

BACKGROUND

Although the second (S2) and third (S3) sacral segments have been established as potential osseous fixation pathways for screw fixation, the S2 body has been demonstrated to have inferior bone density when compared to the body of the first (S1) sacral segment. Caution regarding the use of iliosacral screws at this level has been advised as a result. As transiliac-transsacral screws traverse the lateral cortices of the posterior pelvis, they may be relying on bone with superior density for purchase, which could obviate this concern. The objective of this study was to compare the bone density of the posterior ilium and sacroiliac joint to that of the sacral body at the first (S1), second (S2), and third (S3) sacral levels.

MATERIALS AND METHODS

A retrospective case series was performed, reviewing the CT scans of 100 patients without prior pelvic trauma. Each CT was confirmed to have available osseous fixation pathways at the first (S1), second (S2), and third (S3) sacral segments. The bone density of the posterior ilium/sacroiliac joint (PISJ) and sacral body (SB) was measured using the embedded standardized Hounsfield units (HU) tool at each sacral level.

RESULTS

The average S2 PISJ bone density (320.1) was significantly higher than the S1 (286.5) and S3 (278.9) PISJ (p < 0.0001) and S1 and S3 PISJ was not statistically different. The S1 sacral body bone density (231.1) was significantly higher than the S2 (182.1) and S3 (126.8) bone density (p < 0.0001). The PISJ bone density is greater than the sacral body at every sacral level (p < 0.0001).

CONCLUSION

The S2 PISJ bone density is significantly greater than S1. The S1, S2, and S3 PISJ bone density is greater than the sacral body at all sacral levels, and the S1 body has higher bone density than the S2 and S3 bodies. These differences in bone density may have implications for the stability of posterior pelvic ring fixation constructs with regard to screw purchase.

LEVEL OF EVIDENCE

Level III-Case cohort series.

An Extensible Orthopaedic Wire Navigation Simulation Platform

The demand for simulation-based skills training in orthopaedics is steadily growing. Wire navigation, or the ability to use 2D images to place an implant through a specified path in bone, is an area of training that has been difficult to simulate given its reliance on radiation based fluoroscopy. Our group previously presented on the development of a wire navigation simulator for a hip fracture module. In this paper, we present a new methodology for extending the simulator to other surgical applications of wire navigation. As an example, this paper focuses on the development of an iliosacral wire navigation simulator. We define three criteria that must be met to adapt the underlying technology to new areas of wire navigation; surgical working volume, system precision, and tactile feedback. The hypothesis being that techniques which fall within the surgical working volume of the simulator, demand a precision less than or equal to what the simulator can provide, and that require the tactile feedback offered through simulated bone can be adopted into the wire navigation module and accepted as a valid simulator for the surgeons using it. Using these design parameters, the simulator was successfully configured to simulate the task of drilling a wire for an iliosacral screw. Residents at the University of Iowa successfully used this new module with minimal technical errors during use.

Evaluating the impact of image guidance in the surgical setting: a systematic review

Background

Image guidance has been clinically available for over a period of 20 years. Although research increasingly has a translational emphasis, overall the clinical uptake of image guidance systems in surgery remains low. The objective of this review was to establish the metrics used to report on the impact of surgical image guidance systems used in a clinical setting.

Methods

A systematic review of the literature was carried out on all relevant publications between January 2000 and April 2016. Ovid MEDLINE and Embase databases were searched using a title strategy. Reported outcome metrics were grouped into clinically relevant domains and subsequent sub-categories for analysis.

Results

In total, 232 publications were eligible for inclusion. Analysis showed that clinical outcomes and system interaction were consistently reported. However, metrics focusing on surgeon, patient and economic impact were reported less often. No increase in the quality of reporting was observed during the study time period, associated with study design, or when the clinical setting involved a surgical specialty that had been using image guidance for longer.

Conclusions

Publications reporting on the clinical use of image guidance systems are evaluating traditional surgical outcomes and neglecting important human and economic factors, which are pertinent to the uptake, diffusion and sustainability of image-guided surgery. A framework is proposed to assist researchers in providing comprehensive evaluation metrics, which should also be considered in the design phase. Use of these would help demonstrate the impact in the clinical setting leading to increased clinical integration of image guidance systems.

Electronic supplementary material

The online version of this article (10.1007/s00464-019-06876-x) contains supplementary material, which is available to authorized users.

Fast and automatic bone segmentation and registration of 3D ultrasound to CT for the full pelvic anatomy: a comparative study

PURPOSE

Ultrasound (US) is a safer alternative to X-rays for bone imaging, and its popularity for orthopedic surgical navigation is growing. Routine use of intraoperative US for navigation requires fast, accurate and automatic alignment of tracked US to preoperative computed tomography (CT) patient models. Our group previously investigated image segmentation and registration to align untracked US to CT of only the partial pelvic anatomy. In this paper, we extend this to study the performance of these previously published techniques over the full pelvis in a tracked framework, to characterize their suitability in more realistic scenarios, along with an additional simplified segmentation method and similarity metric for registration.

METHOD

We evaluated phase symmetry segmentation, and Gaussian mixture model (GMM) and coherent point drift (CPD) registration methods on a pelvic phantom augmented with human soft tissue images. Additionally, we proposed and evaluated a simplified 3D bone segmentation algorithm we call Shadow-Peak (SP), which uses acoustic shadowing and peak intensities to detect bone surfaces. We paired this with a registration pipeline that optimizes the normalized cross-correlation (NCC) between distance maps of the segmented US-CT images.

RESULTS

SP segmentation combined with the proposed NCC registration successfully aligned tracked US volumes to the preoperative CT model in all trials, in contrast to the other techniques. SP with NCC achieved a median target registration error (TRE) of 2.44 mm (maximum 4.06 mm), when imaging all three anterior pelvic structures, and a mean runtime of 27.3 s. SP segmentation with CPD registration was the next most accurate combination: median TRE of 3.19 mm (maximum 6.07 mm), though a much faster runtime of 4.2 s.

CONCLUSION

We demonstrate an accurate, automatic image processing pipeline for intraoperative alignment of US-CT over the full pelvis and compare its performance with the state-of-the-art methods. The proposed methods are amenable to clinical implementation due to their high accuracy on realistic data and acceptably low runtimes.

Percutaneous Placement of Iliosacral Screws Under the Guidance of Axial View Projection of the S1 Pedicle: a Case Series

The aim of this study was to evaluate the safety and efficacy of percutaneous placement of iliosacral screws under the guidance of axial view projection of the S1 pedicle clinically. This case series includes 58 consecutive unstable pelvic injury patients, which were treated with iliosacral screws between July 2011 and July 2016. Patients were divided into two groups: normal sacrum (n = 31) and dysmorphic sacrum (n = 27). A single orthopedic surgeon operated on all patients, with percutaneous placement of iliosacral screws under the guidance of axial view projection of the S1 pedicle. The time needed for screw insertion and the radiation exposure time were recorded. Chi-squared test and Student t-test were used to analyze the differences between the two groups. Sacral dysmorphism was present in 47% of patients. The median time for screw insertion and radiation exposure time in these two groups showed no statistical difference (P > 0.05). No clinical complications or malpositioned screws occurred in any case. Preoperative pelvic CT is necessary to determine the sacral osseous anatomy. In patients with either a normal or dysmorphic sacrum, iliosacral screws can be placed by this method with less radiation exposure and complications than in the conventional method.

Bowel preparation prior to percutaneous ilio-sacral screw insertion: is it necessary?

PURPOSE

The aim of this study was to compare the outcomes of ilio-sacral (IS) screw fixation with and without the use of bowel preparation, in terms of obtaining adequate visualisation, malpositioning of screw requiring revision surgery and neurovascular injury.

METHODS

A retrospective case control study was performed. We reviewed 74 consecutive cases of IS screw fixation performed at our institution within the last 5 years. We included all patients who had undergone percutaneous IS screw fixation. Two groups, one consisting of patients who underwent bowel preparation prior to surgery (Group 1) and one consisting of patients who had no bowel preparation (Group 2), were compared in terms of the above outcomes. There were 37 patients in each group. The mean age in Group 1 was 41 years (17-63) and in Group 2 was 47 years (12-89).

RESULTS

In Group 1 there were two procedures abandoned due to poor visualisation. In Group 2 there were no cases abandoned for poor visualisation. There were two nerve injuries in Group 1 and no nerve injuries in Group 2. Revision surgery was performed in four patients in Group 1-for malposition, persistent buttock pain, sciatic nerve palsy and inadequate fixation while one revision performed in Group 2 for persistent buttock pain.

CONCLUSION

Based on these results, we conclude that bowel preparation is not necessary to obtain adequate visualisation for safe and accurate percutaneous IS screw insertion. In fact, in Group 1 two procedures were abandoned and there was higher incidence of complications. Therefore, it would appear that this treatment arm should be abandoned all together. Further studies to prove it conclusively and explain the reasons are required.

Automatic extraction of bone surfaces from 3D ultrasound images in orthopaedic trauma cases

PURPOSE

3D ultrasound (US) imaging has the potential to become a powerful alternative imaging modality in orthopaedic surgery as it is radiation-free and can produce 3D images (in contrast to fluoroscopy) in near-real time. Conventional B-mode US images, however, are characterized by high levels of noise and reverberation artifacts, image quality is user-dependent, and bone surfaces are blurred, which makes it difficult to both interpret images and to use them as a basis for navigated interventions. 3D US has great potential to assist orthopaedic care, possibly assisting during surgery if the anatomical structures of interest could be localized and visualized with sufficient accuracy and clarity and in a highly automated rapid manner.

METHODS

In this paper, we present clinical results for a novel 3D US segmentation technique we have recently developed based on multi-resolution analysis to localize bone surfaces in 3D US volumes. Our method is validated on scans obtained from 29 trauma patients with distal radius and pelvic ring fractures.

RESULTS

Qualitative and quantitative results demonstrate remarkably clear segmentations of bone surfaces with an average surface fitting error of 0.62 mm (standard deviation (SD) of 0.42 mm) for pelvic patients and 0.21 mm (SD 0.14 mm) for distal radius patients.

CONCLUSIONS

These results suggest that our technique is sufficiently accurate for potential use in orthopaedic trauma applications.

Fluoroscopy-based laser guidance system for linear surgical tool insertion depth control

PURPOSE

In most orthopedic surgeries, knowing how far to insert surgical tools is crucial. The objective of this study was to provide guidance information on depth without tracking surgical tools. A previously developed laser guidance system for linear surgical tool insertion uses two laser beams that display the insertion point and orientation on the skin surface. However, the system only provides 4 degrees of freedom guidance (an entry point on the planned pathway line and the orientation) but do not inform surgeons on the ideal insertion depth.

METHOD

A 5-DOF guidance method was developed to provide guidance information by direct projection onto the surgical area using laser beams without tracking markers. A position and orientation guidance performed by two laser beams and depth guidance performed by a single laser beam are appeared on the surgical area in turn. However, depth point appears on the surgical tool side face with some error because of tool radius. Using the actual depth position, insertion path vector and location of the laser sources, the correct depth point on the tool's surface is calculated by the proposed method. So, this system can indicate and navigate the 5-DOF which is planning path and the correct depth point.

RESULTS

An evaluation of the accuracy of depth guidance revealed a depth guidance error of 0.55±0.29 mm and results from phantom target insertions revealed overall system accuracies of 1.44 ± 1.09 mm, 0.91° ± 0.82°. In addition, overall system accuracies of application feasibility experiment under the X-ray condition were 1.94 ± 0.98mm, 1.39° ± 1.30°.

CONCLUSION

A new surgical tool depth insertion method was developed using a fluorolaser guidance system. This tool informs surgeons of the surgical tool tip depth assuming that the insertion point and orientation are correct. The new method was tested successfully in vitro.

Factors influencing the accuracy of iliosacral screw placement in trauma patients

Correct placement of iliosacral screws remains a surgical challenge. The aim of this retrospective study was to identify parameters which impact the accuracy of this technically demanding procedure. Eighty-two patients with vertically unstable pelvic injuries treated with a total of 147 iliosacral screws were included. Assessment of postoperative CT scans revealed screw misplacement in 13 cases (8%), of which six occurred following insertion of two unilateral screws into S1. Six screw misplacements occurred in patients with dislocation injuries of the posterior pelvis. Comparison of a navigated and the standard technique revealed a decreased screw misplacement rate in the navigated group (15% standard vs. 3% navigation, p < 0.05). In addition, the malposition rate was influenced by the surgeon's individual experience (20% for low vs. 3.9% for high volume surgeons, p < 0.05). Overall, the accuracy of iliosacral screw placement depends on the number of screws inserted into S1 and the extent of dislocation. In experienced hands, the use of navigation represents a helpful tool to improve the placement accuracy.

Computer-navigated iliosacral screw insertion reduces malposition rate and radiation exposure

Insertion of percutaneous iliosacral screws with fluoroscopic guidance is associated with a relatively high screw malposition rate and long radiation exposure. We asked whether radiation exposure was reduced and screw position improved in patients having percutaneous iliosacral screw insertion using computer-assisted navigation compared with patients having conventional fluoroscopic screw placement. We inserted 26 screws in 24 patients using the navigation system and 35 screws in 32 patients using the conventional fluoroscopic technique. Two subgroups were analyzed, one in which only one iliosacral screw was placed and another with additional use of an external fixator. We determined screw positions by computed tomography and compared operation time, radiation exposure, and screw position. We observed no difference in operative times. Radiation exposure was reduced for the patients and operating room personnel with computer assistance. The postoperative computed tomography scan showed better screw position and fewer malpositioned screws in the three-dimensional navigated groups. Computer navigation reduced malposition rate and radiation exposure.

LEVEL OF EVIDENCE

Level II, therapeutic study.

[Percutaneous, 2D-fluoroscopic navigated iliosacral screw placement in the supine position: technique, possibilities, and limits]

OBJECTIVE

In pelvic surgery, computer-assisted procedures are currently used predominantly for percutaneous iliosacral screw placement. The aim of this study was to evaluate the possibilities and limits of a 2D-fluoroscopic navigated procedure used for this indication.

METHODS

A consecutive series of patients with non or slightly displaced injuries of the posterior pelvic ring were prospectively investigated. Cannulated cancellous screws of 7.3 mm were percutaneously implanted in the supine position. The navigated procedure was performed using an active optoelectronical system and a 2D C-arm. Target parameters were practicability, precision and intraoperative radiation exposure time compared to patients treated using a non-navigated technique.

RESULTS

In a 15 month period, 35 screws were implanted in 20 patients. The average procedure took 36.2+/-12.5 min (range 18-62 min), with a fluoroscopic time of 0.9+/-0.3 min (range 0.6-1.8 min) per screw. The displacement rate was 8% (n=3/35, CI 1.8-23.0). Compared to retrospectively selected patients treated using a non-navigated technique (n=13), a significant increase in procedure time (P=0.01), a significant decrease of radiation exposure time (P<0.001) and a decreased displacement rate (P>0.05) were observed in the navigated group.

CONCLUSION

The 2D-fluoroscopic navigated procedure used in this study can be recommended for percutaneous stabilisation of non or minor displaced injuries of the posterior pelvis. This procedure reduces intraoperative radiation exposure and improves intraoperative orientation but does not crucially enhance the precision of screw placement compared to the non-navigated technique. Finally, it is limited by its poor image resolution and lack of three-dimensionality.

Computer-assisted screw insertion into the first sacral vertebra using a three-dimensional image intensifier: results of a controlled experimental investigation

Currently there are few data available regarding the application and efficacy of computer-assisted procedures in the sacral spine. In order to optimize and standardize this procedure, a controlled experimental investigation has been performed. The aim of the study is to systematically assess the efficacy of a novel three-dimensional image intensifier used for navigated transiliac screw insertion into the first sacral vertebra. Screws were inserted iliosacrally into the first sacral vertebra of preserved human cadaver specimens. The instrument navigated procedure was performed with the "Siremobil Iso-C(3D) " (Siemens Medical Solutions) and the "Navigation System" by Stryker. The accuracy and quality of the imaging procedure as well as the fluoroscopic exposure times were measured. These results were compared to three control groups (CT-based navigation, C-arm navigation, and fluoroscopic guidance). In each group a total amount of 20 screws was implanted. Screw position was postoperatively assessed by Iso-C(3D) or CT-scan. The navigated procedure using the Iso-C(3D) provided good feasibility characteristics without requiring a specific matching process. It revealed the shortest procedure time of all navigated procedures and significantly decreased fluoroscopic time compared to C-arm navigation and fluoroscopic guidance. Furthermore, Iso-C(3D) navigation showed no screw malposition and was in this regard superior to C-arm navigated and fluoroscopic guided procedures. The quality of imaging was sufficient for accurate placement, but did not share the high-resolution level of CT-based navigation. These findings indicate that application of the Iso-C(3D) for navigated transiliac screw insertion into S1 can be recommended as a feasible and safe technique, enabling the surgeon to reduce procedure and fluoroscopic time. Further progress in improving the quality of the Iso-C(3D) image should be attempted.