Impingement and stability of total hip arthroplasty versus femoral head resurfacing using a cadaveric robotics model

Calibration procedure and biomechanical validation of an universal six degree-of-freedom robotic system for hip joint testing

PURPOSE

Among various test methods for different human joints, the use of robot systems has attracted major interest and inherits the potential to become a gold standard in biomechanical testing in the future. A key issue associated with those robot-based platforms is the accurate definition of parameters, e.g., tool center point (TCP), length of tool or anatomical trajectories of movements. These must be precisely correlated to the physiological parameters of the examined joint and its corresponding bones. Exemplified for the human hip joint, we are creating an accurate calibration procedure for a universal testing platform by using a six degree-of-freedom (6 DOF) robot and optical tracking system for recognition of anatomical movements of the bone samples.

METHODS

A six degree-of-freedom robot (TX 200, Stäubli) has been installed and configured. The physiological range of motion of the hip joint composed of a femur and a hemipelvis was recorded with an optical 3D movement and deformation analysis system (ARAMIS, GOM GmbH). The recorded measurements were processed by automatic transformation procedure (created in Delphi software) and evaluated in 3D CAD system.

RESULTS

The physiological ranges of motion were reproduced for all degrees of freedom with the six degree-of-freedom robot in adequate accuracy. With the establishment of a special calibration procedure by using a combination of different coordinate systems, we were able to achieve a standard deviation of the TCP depending of the axis between 0.3 and 0.9 mm and for the length of tool between + 0.67 and - 0.40 mm (3D CAD processing) resp. + 0.72 mm to - 0.13 mm (Delphi transformation). The accuracy between the manual and robotic movement of the hip shows an average deviation between - 0.36 and + 3.44 mm for the points on the movement trajectories.

CONCLUSION

A six degree-of-freedom robot is appropriate to reproduce the physiological range of motion of the hip joint. The described calibration procedure is universal and can be used for hip joint biomechanical tests allowing to apply clinically relevant forces and investigate testing stability of reconstructive osteosynthesis implant/endoprosthetic fixations, regardless of the length of the femur, size of the femoral head and acetabulum or whether the entire pelvis or only the hemipelvis will be used.

Three-dimensional kinematic analysis of dislocation mechanism in dual mobility total hip arthroplasty constructs

Dual mobility (DM) total hip arthroplasty (THA) is associated with reduced dislocation rates; however, the kinematic mechanism of dislocation in DM THA constructs is still not well understood. This study hypothesizes that the difference in kinematics between DM THA and conventional THA designs contributes to reduced dislocation rates of DM THA. In addition, this study aims to quantify and compare those kinematic parameters between DM THA and conventional THA using a validated dual fluoroscopy imaging system (DFIS) and finite element (FE) modelling. Fresh frozen cadavers were measured to compare the impingement-free range of motion and provocative subluxation kinematics among three THA constructs: (1) DM, (2) constrained liner (CS), and (3) 36 mm head diameter neutral liner (NL). The DFIS was used to measure the in vitro kinematics of the hip. Subject-specific FE models were developed to assess the horizontal dislocation distance and resistive torque at dislocation. The DM construct head exhibited increased provocative anterior and posterior subluxation range of motion before dislocation when compared to CS constructs (p = .05; p = .03), as well as NL constructs (p = .05). The DM THA showed a significantly larger posterior horizontal dislocation distance, as well as smaller resistive torque at dislocation, when compared to NL (p = .05; p = .03) and CS constructs (p = .04; p = .01). Our findings demonstrate there was increased provocative subluxation range of motion as well as normalized jump distance for the DM constructs compared to the NL and CS constructs, suggesting the DM THA may provide increased stability hip during at-risk functional hip positions.

An Approach to Robotic Testing of the Wrist Using Three-Dimensional Imaging and a Hybrid Testing Methodology

Robotic technology is increasingly used for sophisticated in vitro testing designed to understand the subtleties of joint biomechanics. Typically, the joint coordinate systems in these studies are established via palpation and digitization of anatomic landmarks. We are interested in wrist mechanics in which overlying soft tissues and indistinct bony features can introduce considerable variation in landmark localization, leading to descriptions of kinematics and kinetics that may not appropriately align with the bony anatomy. In the wrist, testing is often performed using either load or displacement control with standard material testers. However, these control modes either do not consider all six degrees-of-freedom (DOF) or reflect the nonlinear mechanical properties of the wrist joint. The development of an appropriate protocol to investigate complexities of wrist mechanics would potentially advance our understanding of normal, pathological, and artificial wrist function. In this study, we report a novel methodology for using CT imaging to generate anatomically aligned coordinate systems and a new methodology for robotic testing of wrist. The methodology is demonstrated with the testing of 9 intact cadaver specimens in 24 unique directions of wrist motion to a resultant torque of 2.0 N·m. The mean orientation of the major principal axis of range of motion (ROM) envelope was oriented 12.1 ± 2.7 deg toward ulnar flexion, which was significantly different (p < 0.001) from the anatomical flexion/extension axis. The largest wrist ROM was 98 ± 9.3 deg in the direction of ulnar flexion, 15 deg ulnar from pure flexion, consistent with previous studies [1,2]. Interestingly, the radial and ulnar components of the resultant torque were the most dominant across all directions of wrist motion. The results of this study showed that we can efficiently register anatomical coordinate systems from CT imaging space to robotic test space adaptable to any cadaveric joint experiments and demonstrated a combined load-position strategy for robotic testing of wrist.

Hip Joint Capsular Anatomy, Mechanics, and Surgical Management

➤Hip joint capsular ligaments (iliofemoral, ischiofemoral, and pubofemoral) play a predominant role in functional mobility and joint stability. ➤The zona orbicularis resists joint distraction (during neutral positions), and its aperture mechanism stabilizes the hip from adverse edge-loading (during extreme hip flexion-extension). ➤To preserve joint function and stability, it is important to minimize capsulotomy size and avoid disrupting the zona orbicularis, preserve the femoral head size and neck length, and only repair when or as necessary without altering capsular tensions. ➤It is not fully understood what the role of capsular tightness is in patients who have cam femoroacetabular impingement and if partial capsular release could be beneficial and/or therapeutic. ➤During arthroplasty surgery, a femoral head implant that is nearly equivalent to the native head size with an optimal neck-length offset can optimize capsular tension and decrease dislocation risk where an intact posterior hip capsule plays a critical role in maintaining hip stability.

Influence of Acetabular Shell Position and Component Design on Hip Dynamic Dislocation

BACKGROUND

Dislocation is a major complication following total hip arthroplasty, with risk factors such as surgical technique, implant positioning, and implant design. Literature has suggested the distance the femoral head must travel before dislocation to be a predictive factor of dislocation where smaller travel distance has increased dislocation risk. The purpose of this study was to compare 3 designs (hemispherical, metal-on-metal, and dual mobility [DM]) in terms of the dynamic dislocation distance and force required to dislocate.

METHODS

This dynamic dislocation distance model used a material testing system that defined acetabular component inclination (30°, 45°, and 60°), anteversion angles (0°, 15°, and 30°), and pelvic tilt (5° [standing] and 26° [chair rise]). Testing groups included a hemispherical shell with a modular polyethylene liner and 32-mm head, a metal-on-metal hip resurfacing cup design with a 40-mm CoCr head, and a DM design with a 42-mm outside diameter articulating liner and an inner 28-mm articulating head.

RESULTS

The dynamic dislocation distance of the DM hip was greater than that of the other designs for all inclination, anteversion, and pelvic tilt angles tested with the exception of 60° inclination/0° anteversion. At 26° pelvic tilt, it was observed that dislocation distance increased with greater anteversion and decreased with larger inclination.

CONCLUSION

Clinical results have shown the DM design may reduce dislocation. These data support those findings and suggest that if instability is a concern preoperatively or intraoperatively, using a DM implant increases the dynamic dislocation distance.

Robotic hip joint testing: Development and experimental protocols

The use of robotic systems combined with force sensing is emerging as the gold standard for in vitro biomechanical joint testing, due to the advantage of controlling all six degrees of freedom independently of one another. This paper describes a novel robotic platform and the experimental protocol used for hip joint testing. An experimental protocol implemented optical tracking and registration techniques in order to define the position of the hip joint centre of rotation (COR) in the coordinate system of the robot's end effector. The COR coordinates defined the origin of the task-related coordinate system used to control the robot, with a hybrid force/position law to simulate standard clinical tests. The axes of this frame were defined using the International Society of Biomechanics (ISB) anatomical coordinate system. Experiments were carried out on two cadaveric hip joint specimens using the robotic testing platform and a mechanical testing rig previously developed and described by our group. Simulated internal-external and adduction/abduction laxity tests were carried out with both systems and the resulting peak range of motion (ROM) was measured. Similarities and differences were observed in these experiments, which were used to highlight some of the limitations of conventional systems and the corresponding advantages of robotics, further emphasising their added value in vitro testing.

Soft tissue reinforcement with a Leeds-Keio artificial ligament in revision surgery for dislocated total hip arthroplasty

INTRODUCTION

Since dislocation after total hip arthroplasty (THA) greatly diminishes patient's quality of life, the THA frequently needs revision. However, it is common for the dislocation not to heal even after reconstruction, but rather to become intractable.

METHODS

The 17 patients with dislocated THA, mean age of 71 years (range 51-87 years), who underwent a revision THA together with soft tissue reinforcement with a Leeds-Keio (LK) ligament were enrolled. The purposes of reinforcement with LK ligament were to restrict the internal rotation of the hip joint, and to encourage the formation of fibrous tissue in the posterior acetabular wall to stabilise the femoral head. We determined the success rate of surgical treatment for dislocation, the Harris Hip Score (HHS), a factor of recurrent dislocation.

RESULTS

There was no recurrent dislocation in 82% of the cases (14 joints) during the mean postoperative follow-up period of 63.5 months (15-96 months). The HHS was 82 ± 18 points preoperatively and 82 ± 14 points postoperatively. Recurrent dislocation after this surgical procedure occurred in 2 hips with breakage of the LK ligaments, and intracapsular dislocation in 1 hip with loosening of the LK ligament.

CONCLUSIONS

Although the risk of recurrent dislocation still exists with this procedure, when performed to provide reinforcement with an LK ligament for dislocated THA it may be useful in intractable cases with soft tissue defects around the hip joint.

In vitro hip testing in the International Society of Biomechanics coordinate system

Many innovative experiments are designed to answer research questions about hip biomechanics, however many fail to define a coordinate system. This makes comparisons between studies unreliable and is an unnecessary hurdle in extrapolating experimental results to clinical reality. The aim of this study was to present a specimen mounting protocol which aligns and registers hip specimens in the International Society of Biomechanics (ISB) coordinate system, which is defined by bony landmarks that are identified by palpation of the patient׳s body. This would enable direct comparison between experimental testing and clinical gait analysis or radiographic studies. To represent the intact hip, four intact synthetic full-pelves with 8 full-length articulating femora were assembled and digitised to define the ISB coordinate system. Using our proposed protocol, pelvis specimens were bisected into left and right hemi-pelves and femora transected at the mid-shaft, and then mounted in bone pots to represent a typical experimental setup. Anatomical landmarks were re-digitised relative to mechanical features of the bone pots and the misalignment was calculated. The mean misalignment was found to be less than 1.5° flexion/extension, ab/adduction and internal/external rotation for both the pelves and femora; this equates to less than 2.5% of a normal range of hip motion. The proposed specimen mounting protocol provides a simple method to align in vitro hip specimens in the ISB coordinate system which enables improved comparison between laboratory testing and clinical studies. Engineering drawings are provided to allow others to replicate the simple fixtures used in the protocol.

The envelope of passive motion allowed by the capsular ligaments of the hip

Laboratory data indicate the hip capsular ligaments prevent excessive range of motion, may protect the joint against adverse edge loading and contribute to synovial fluid replenishment at the cartilage surfaces of the joint. However, their repair after joint preserving or arthroplasty surgery is not routine. In order to restore their biomechanical function after hip surgery, the positions of the hip at which the ligaments engage together with their tensions when they engage is required. Nine cadaveric left hips without pathology were skeletonised except for the hip joint capsule and mounted in a six-degrees-of-freedom testing rig. A 5 N m torque was applied to all rotational degrees-of-freedom separately to quantify the passive restraint envelope throughout the available range of motion with the hip functionally loaded. The capsular ligaments allowed the hip to internally/externally rotate with a large range of un-resisted rotation (up to 50±10°) in mid-flexion and mid-ab/adduction but this was reduced towards the limits of flexion/extension and ab/adduction such that there was a near-zero slack region in some positions (p<0.014). The slack region was not symmetrical; the mid-slack point was found with internal rotation in extension and external rotation in flexion (p<0.001). The torsional stiffness of the capsular ligamentous restraint averaged 0.8±0.3 N m/° and was greater in positions where there were large slack regions. These data provide a target for restoration of normal capsular ligament tensions after joint preserving hip surgery. Ligament repair is technically demanding, particularly for arthroscopic procedures, but failing to restore their function may increase the risk of osteoarthritic degeneration.

The contribution of the acetabular labrum to hip joint stability: a quantitative analysis using a dynamic three-dimensional robot model

The acetabular labrum provides mechanical stability to the hip joint in extreme positions where the femoral head is disposed to subluxation. We aimed to quantify the isolated labrum's stabilizing value. Five human cadaveric hips were mounted to a robotic manipulator, and subluxation potential tests were run with and without labrum. Three-dimensional (3D) kinematic data were quantified using the stability index (Colbrunn et al., 2013, "Impingement and Stability of Total Hip Arthroplasty Versus Femoral Head Resurfacing Using a Cadaveric Robotics Model," J. Orthop. Res., 31(7), pp. 1108-1115). Global and regional stability indices were significantly greater with labrum intact than after total labrectomy for both anterior and posterior provocative positions. In extreme positions, the labrum imparts significant overall mechanical resistance to hip subluxation. Regional stability contributions vary with joint orientation.

Acetabular cup liner and prosthetic head exchange to increase the head diameter for management of recurrent luxation of a prosthetic hip in two dogs

Component malalignment and impingement are possible causes of recurrent luxation following total hip replacement in the dog. In the two cases presented in this report, luxation that was probably due to impingement was managed by exchanging the standard 17 mm prosthetic head for a 24 mm prosthetic head. This required removal of the original acetabular cup liner and placement of a new polyethylene liner that would accept the 24 mm head into the stable acetabular shell. In the first case, a 50 kg Malamute dog, recurrent luxation was initially managed by component alignment revision, iliofemoral suture, triple pelvic osteotomy and a novel lasso technique, without long-term success. After exchanging the head and cup liner, luxation did not recur over a 12-month period. In the second case, a 65 kg Newfoundland dog, impingement was suspected after a second luxation event. Luxation did not recur during the nine months after exchange of the head and cup liner. The larger prosthetic head used in these two cases increased the impingement-free range-of-motion of the joint and increased the translation distance required for luxation (jump distance).