Image-guided bone resection as a prospective alternative to cutting templates—A preliminary study

Development and validation of a surgical robot system for orbital decompression surgery

PURPOSE

Orbital decompression surgery, which expands the volume of the orbit by removing sections of the orbital walls with a drill and saw, is an important treatment option for thyroid-associated ophthalmopathy. However, it is often limited by physical factors such as a narrow operating space and instability of the manual holding of surgical instruments, which constrains doctors from accurately executing surgical planning.

METHODS

To overcome these limitations, we designed a surgical robot comprising position adjustment, remote center of motion, and end-effector with a rapid surgical instrument assembly mechanisms. Additionally, to guide surgical robots in precisely performing preoperative surgical planning, we constructed a surgical navigation system comprising preoperative surgical planning and intraoperative optical navigation subsystems. An internally complementary orbital surgical robot system in which the navigation system, optical tracker, and surgical robot and its motion control system serve as the decision-making, perception, and execution layers of the system, respectively, was developed.

RESULTS

The results of precision measurement experiments revealed that the absolute and repeated pose accuracies of the surgical robot satisfied the design requirements. As verified by animal experiments, the precision of osteotomy and bone drilling operation of orbital surgical robot system can meet the clinical technical indicators.

CONCLUSION

The developed orbital surgical robotic system for orbital decompression surgery could perform routine operations such as drilling and sawing on the orbital bone with assistance and supervision from surgeons. The feasibility and reliability of the orbital surgical robot system were comprehensively verified through accuracy measurements and animal experiments.

A novel portable augmented reality surgical navigation system for maxillofacial surgery: technique and accuracy study

Surgical navigation, despite its potential benefits, faces challenges in widespread adoption in clinical practice. Possible reasons include the high cost, increased surgery time, attention shifts during surgery, and the mental task of mapping from the monitor to the patient. To address these challenges, a portable, all-in-one surgical navigation system using augmented reality (AR) was developed, and its feasibility and accuracy were investigated. The system achieves AR visualization by capturing a live video stream of the actual surgical field using a visible light camera and merging it with preoperative virtual images. A skull model with reference spheres was used to evaluate the accuracy. After registration, virtual models were overlaid on the real skull model. The discrepancies between the centres of the real spheres and the virtual model were measured to assess the AR visualization accuracy. This AR surgical navigation system demonstrated precise AR visualization, with an overall overlap error of 0.53 ± 0.21 mm. By seamlessly integrating the preoperative virtual plan with the intraoperative field of view in a single view, this novel AR navigation system could provide a feasible solution for the use of AR visualization to guide the surgeon in performing the operation as planned.

Robot-assisted augmented reality surgical navigation based on optical tracking for mandibular reconstruction surgery

PURPOSE

This work proposes a robot-assisted augmented reality (AR) surgical navigation system for mandibular reconstruction. The system accurately superimposes the preoperative osteotomy plan of the mandible and fibula into a real scene. It assists the doctor in osteotomy quickly and safely under the guidance of the robotic arm.

METHODS

The proposed system mainly consists of two modules: the AR guidance module of the mandible and fibula and the robot navigation module. In the AR guidance module, we propose an AR calibration method based on the spatial registration of the image tracking marker to superimpose the virtual models of the mandible and fibula into the real scene. In the robot navigation module, the posture of the robotic arm is first calibrated under the tracking of the optical tracking system. The robotic arm can then be positioned at the planned osteotomy after the registration of the computed tomography image and the patient position. The combined guidance of AR and robotic arm can enhance the safety and precision of the surgery.

RESULTS

The effectiveness of the proposed system was quantitatively assessed on cadavers. In the AR guidance module, osteotomies of the mandible and fibula achieved mean errors of 1.61 ± 0.62 and 1.08 ± 0.28 mm, respectively. The mean reconstruction error of the mandible was 1.36 ± 0.22 mm. In the AR-robot guidance module, the mean osteotomy errors of the mandible and fibula were 1.47 ± 0.46 and 0.98 ± 0.24 mm, respectively. The mean reconstruction error of the mandible was 1.20 ± 0.36 mm.

CONCLUSIONS

The cadaveric experiments of 12 fibulas and six mandibles demonstrate the proposed system's effectiveness and potential clinical value in reconstructing the mandibular defect with a free fibular flap.

Mandibular resection and defect reconstruction guided by a contour registration-based augmented reality system: A preclinical trial

The aim of this study was to verify the feasibility and accuracy of a contour registration-based augmented reality (AR) system in jaw surgery. An AR system was developed to display the interaction between virtual planning and images of the surgical site in real time. Several trials were performed with the guidance of the AR system and the surgical guide. The postoperative cone beam CT (CBCT) data were matched with the preoperatively planned data to evaluate the accuracy of the system by comparing the deviations in distance and angle. All procedures were performed successfully. In nine model trials, distance and angular deviations for the mandible, reconstructed fibula, and fixation screws were 1.62 ± 0.38 mm, 1.86 ± 0.43 mm, 1.67 ± 0.70 mm, and 3.68 ± 0.71°, 5.48 ± 2.06°, 7.50 ± 1.39°, respectively. In twelve animal trials, results of the AR system were compared with the surgical guide. Distance deviations for the bilateral condylar outer poles were 0.93 ± 0.63 mm and 0.81 ± 0.30 mm, respectively (p = 0.68). Distance deviations for the bilateral mandibular posterior angles were 2.01 ± 2.49 mm and 2.89 ± 1.83 mm, respectively (p = 0.50). Distance and angular deviations for the mandible were 1.41 ± 0.61 mm, 1.21 ± 0.18 mm (p = 0.45), and 6.81 ± 2.21°, 6.11 ± 2.93° (p = 0.65), respectively. Distance and angular deviations for the reconstructed tibiofibular bones were 0.88 ± 0.22 mm, 0.84 ± 0.18 mm (p = 0.70), and 6.47 ± 3.03°, 6.90 ± 4.01° (p = 0.84), respectively. This study proposed a contour registration-based AR system to assist surgeons in intuitively observing the surgical plan intraoperatively. The trial results indicated that this system had similar accuracy to the surgical guide.

"Image to patient" equal-resolution surface registration supported by a surface scanner: analysis of algorithm efficiency for computer-aided surgery

PURPOSE

The "image to patient" registration procedure is crucial for the accuracy of surgical instrument tracking relative to the medical image while computer-aided surgery. The main aim of this work was to create an equal-resolution surface registration algorithm (ERSR) and analyze its efficiency.

METHODS

The ERSR algorithm provides two datasets with equal, high resolution and approximately corresponding points. The registered sets are obtained by projection of a user-designed rectangle(s)-shaped uniform clouds of points on DICOM and surface scanner datasets. The tests of the algorithm were performed on a phantom with titanium microscrews. We analyzed the influence of DICOM resolution on the effect of the ERSR algorithm and compared the ERSR to standard paired-points landmark transform registration. The methods of analysis were Target Registration Error, distance maps, and their histogram evaluation.

RESULTS

The mean TRE in case of ERSR equaled 0.8 ± 0.3 mm (resolution A), 0.8 ± 0.5 mm (resolution B), and 1.0 ± 0.7 mm (resolution C). The mean values were at least 0.4 mm lower than in the case of landmark transform registration. The distance maps between the model achieved from the scanner and the CT-based model were analyzed by histogram. The frequency of the first bin in a histogram of the distance map for ERSR was about 0.6 for all three resolutions of DICOM dataset and three times higher than in the case of landmark transform registration. The results were statistically analyzed using the Wilcoxon signed-rank test (alpha = 0.05).

CONCLUSION

The tests proved a statistically significant higher efficiency of equal resolution surface registration related to the landmark transform algorithm. It was proven that the lower resolution of the CT DICOM dataset did not degrade the efficiency of the ERSR algorithm. We observed a significantly lower response to decreased resolution than in the case of paired-points landmark transform registration.

Aesthetic reconstruction of onco-surgical maxillary defects using free scapular flap with and without CAD/CAM customized osteotomy guide

BACKGROUND

Reconstruction of the maxillary defects following tumor ablation remains to be a challenge for surgeons. Virtual surgical planning (VSP), intraoperative cutting guides and stereolithographic models provides the head and neck reconstructive surgeon with powerful tools for complex reconstruction planning. Despite its use in fibular osteocutaneous reconstruction, application to the scapular free flap has not been as widely reported. The aim of this study was to compare aesthetic results and operation time of free scapular flap, with and without computer-aided design and computer-aided manufacturing (CAD/CAM) customized osteotomy guide, for reconstruction of maxillary defects.

METHODS

In this prospective randomized controlled clinical trial study, we randomly assigned 22 patients with maxillary defects who were scheduled to undergo maxillary reconstruction with either free scapular flap with CAD/CAM customized osteotomy guide; study group (n = 11) or free scapular flap without CAD/CAM customized osteotomy guide; control group (n = 11). All patients were followed up for 3 months. The aesthetic outcome, operation and ischemic times were evaluated and compared.

RESULTS

Aesthetic outcomes were evaluated objectively by means of differential surface area (sagittal and axial) measurement, which showed improved aesthetic outcome (contour symmetry) in the study group with a mean of (241.39 ± 113.74 mm²), compared to patients in control group with a mean of (358.70 ± 143.99 mm²). There were significant differences between the two groups (P < 0.05). Aesthetic outcomes were also evaluated subjectively by means of visual analogue scale (VAS) and patient's satisfaction score (PSS). The postoperative aesthetic appearance was better in the study group with more patients satisfied than that in control group and there were statistically significant differences (P = 0.039). The mean total operative time was 678.81 min and 777.18 min in the study group and control group respectively (P < 0.05) and the mean ischemia time was 133.18 min and 195.72 min for study group and control group respectively (P < 0.05). The ischemia time and total operative time were shorter in the study group compared to those in the control group and there were no flap losses in both groups.

CONCLUSION

The use of CAD/CAM prefabricated cutting guides facilitates scapular flap molding and placement, minimizes ischemic time and operating time as well as improves aesthetic outcomes. Trial registration This trial was registered at ClinicalTrials.gov.

REGISTRATION NUMBER

NCT03757286. Registration date: 28/11/2018.

The use of 3D virtual surgical planning and computer aided design in reconstruction of maxillary surgical defects

PURPOSE OF REVIEW

The present review describes the latest development of 3D virtual surgical planning (VSP) and computer aided design (CAD) for reconstruction of maxillary defects with an aim of fully prosthetic rehabilitation. The purpose is to give an overview of different methods that use CAD in maxillary reconstruction in patients with head and neck cancer.

RECENT FINDINGS

3D VSP enables preoperative planning of resection margins and osteotomies. The current 3D VSP workflow is expanded with multimodal imaging, merging decision supportive information. Development of more personalized implants is possible using CAD, individualized virtual muscle modelling and topology optimization. Meanwhile the translation of the 3D VSP towards surgery is improved by techniques like intraoperative imaging and augmented reality. Recent improvements of preoperative 3D VSP enables surgical reconstruction and/or prosthetic rehabilitation of the surgical defect in one combined procedure.

SUMMARY

With the use of 3D VSP and CAD, ablation surgery, reconstructive surgery, and prosthetic rehabilitation can be planned preoperatively. Many reconstruction possibilities exist and a choice depends on patient characteristics, tumour location and experience of the surgeon. The overall objective in patients with maxillary defects is to follow a prosthetic-driven reconstruction with the aim to restore facial form, oral function, and do so in accordance with the individual needs of the patient.

A surgical navigated cutting guide for mandibular osteotomies: accuracy and reproducibility of an image-guided mandibular osteotomy

PURPOSE

3D-printed cutting guides are the current standard to translate the virtual surgery plan to the intraoperative setting. The production of these patient-specific cutting guides is time-consuming and costly, and therefore, alternative approaches are currently subject of research. The aim of this study was to assess the accuracy and reproducibility of using a novel electromagnetic (EM) navigated surgical cutting guide to perform virtually planned osteotomies in mandible models.

METHODS

A novel 3D navigated cutting guide (dubbed Bladerunner) was designed and evaluated with a total of 20 osteotomies, performed on plaster mandibular models according to preoperative planning using EM navigation. The pre- and postoperative scans were registered, and the difference between the preoperatively planned osteotomy and the performed osteotomy was expressed as the distance between the planned and performed cutting planes, and the yaw and roll angles between the planes.

RESULTS

The mean difference in distance between the planned osteotomy and performed osteotomy was 1.1 mm (STD 0.6 mm), the mean yaw was 1.8° (STD 1.4°), and mean roll was 1.6° (STD 1.3°).

CONCLUSION

The proposed EM navigated cutting guide for mandibular osteotomies demonstrated accurate positioning of the cutting plane according to the preoperative virtual surgical plan with respect to distance, yaw and roll angles. This novel approach has the potential to make the use of 3D-printed cutting guides obsolete, thereby decreasing the interval between diagnosis and surgery, reduce cost and allow for adaptation of the virtual plan in case of rapid tumor proliferation or unanticipated in situ deviations from the preoperative CT/MR imaging.

Intraoperative Image-Guided Navigation in Craniofacial Surgery: Review and Grading of the Current Literature

INTRODUCTION

Image-guided navigation has existed for nearly 3 decades, but its adoption to craniofacial surgery has been slow. A systematic review of the literature was performed to assess the current status of navigation in craniofacial surgery.

METHODS

A Preferred Reporting Items for Systematic Reviews and Meta-analysis (PRISMA) systematic review of the Medline and Web of Science databases was performed using a series of search terms related to Image-Guided Navigation and Craniofacial Surgery. Titles were then filtered for relevance and abstracts were reviewed for content. Single case reports were excluded as were animal, cadaver, and virtual data. Studies were categorized based on the type of study performed and graded using the Jadad scale and the Newcastle-Ottawa scales, when appropriate.

RESULTS

A total of 2030 titles were returned by our search criteria. Of these, 518 abstracts were reviewed, 208 full papers were evaluated, and 104 manuscripts were ultimately included in the study. A single randomized controlled trial was identified (Jadad score 3), and 12 studies were identified as being case control or case cohort studies (Average Newcastle-Ottawa score 6.8) The most common application of intraoperative surgical navigation cited was orbital surgery (n = 36), followed by maxillary surgery (n = 19). Higher quality studies more commonly pertained to the orbit (6/13), and consistently show improved results.

CONCLUSION

Image guided surgical navigation improves outcomes in orbital reconstruction. Although image guided navigation has promise in many aspects of craniofacial surgery, current literature is lacking and future studies addressing this paucity of data are needed before universal adoption can be recommended.

A Planar Model of an Ankle Joint with Optimized Material Parameters and Hertzian Contact Pairs

The ankle is one of the most complicated joints in the human body. Its features a plethora of elements with complex behavior. Their functions could be better understood using a planar model of the joint with low parameter count and low numerical complexity. In this study, an accurate planar model of the ankle with optimized material parameters was presented. In order to obtain the model, we proposed an optimizational approach, which fine-tuned the material parameters of two-dimensional links substituting three-dimensional ligaments of the ankle. Furthermore, the cartilage in the model was replaced with Hertzian contact pairs. The model was solved in statics under moment loads up to 5 Nm. The obtained results showed that the structure exhibited angular displacements in the range of the ankle joint and that their range was higher in dorsiflexion than plantarflexion. The structure also displayed a characteristic ramp up of the angular stiffness. The results obtained from the optimized model were in accordance with the experimental results for the ankle. Therefore, the proposed method for fine-tuning the material parameters of its links could be considered viable.

Supporting fibula free flap harvest with augmented reality: A proof-of-concept study

OBJECTIVE

To analyze a novel navigation system utilizing augmented reality (AR) as a supporting method for fibula free flap (FFF) harvest and fabrication.

METHODS

A total of 126 simulated osteotomies supported with a cutting guide or one of two AR-based intraoperative navigation modules-simple AR (sAR) or navigated AR (nAR)-were carried out on 18 identical models of the fibula (42 osteotomies per method). After fusing postoperative computed tomography scans of the operated fibulas with the virtual surgical plan based on preoperative images, the objective outcomes-angular deviations from the planned osteotomy trajectory (^o ) and deviations of control points marked on the trajectory (mm)-were determined.

RESULTS

All analyzed methods provided similar accuracy of assisted osteotomies. The only significant difference referred to angular deviation in the sagittal plane, which was smaller after the cutting guide-assisted procedures than after the application of sAR and nAR (4.1 ± 2.29 vs. 5.08 ± 3.64 degrees, P = 0.031 and 4.1 ± 2.29 vs. 4.97 ± 2.91, P = 0.002, respectively). Mean deviation of control points after the cutting guide-assisted procedures was 2.76 ± 1.06 mm, as compared with 2.67 ± 1.09 mm for sAR and 2.95 ± 1.11 mm for nAR.

CONCLUSION

Our study demonstrated that both novel AR-based methods provided similar accuracy of assisted harvesting and contouring of the FFF as the cutting guides. This fact, as well as the acceptability of the concept by clinicians, justify their further development and evaluation in preclinical settings.

LEVEL OF EVIDENCE

NA Laryngoscope, 130:1173-1179, 2020.

Navigation-guided fibula free flap for mandibular reconstruction: A proof of concept study

OBJECTIVE

To analyze a novel technique of supporting fibula free flap harvest and fabrication with intraoperative navigation technology.

MATERIALS AND METHODS

In the first phase of the study, navigation accuracy achieved with two registration methods, namely, point-pair and hybrid technique utilizing point-pair with surface matching, were evaluated in the form of the fiducial (FRE) and target registration error (TRE). Next, a series of 42 simulated navigated fibular osteotomies were conducted on specially manufactured lower leg phantom. Postoperative results were analyzed in the form of the angular and position deviations between the virtually planned and the obtained osteotomies.

RESULTS

Mean FRE values obtained with point-pair and hybrid registration methods were 1.82 ± 0.96 mm and 1.41 ± 0.44 mm, respectively. Mean TRE value in the fibula region was 2.00 ± 0.67 mm for the first method and 1.51 ± 0.72 mm for the second. For all performed surgeries, the total mean angular deviation between the planned and actual osteotomy trajectory equaled 3.66° ± 3.60°. The total mean position disparity of osteotomy control points was 1.85 ± 0.99 mm.

CONCLUSIONS

Navigation-guided free fibula flap harvest and fabrication, due to encouraging study results and its superiority over currently popular cutting guides in many clinical aspects, may become a routine operative procedure for the reconstruction of complex mandibular defects. The presented method is especially well suited for plastic and maxillofacial surgery.

Precision of a Novel Craniofacial Surgical Navigation System Based on Augmented Reality Using an Occlusal Splint as a Registration Strategy

The authors have developed a novel augmented reality (AR)-based navigation system (NS) for craniofacial surgery. In this study, the authors aimed to measure the precision of the system and further analyze the primary influencing factors of the precision. The drilling of holes into the mandibles of ten beagle dogs was performed under the AR-based NS, and the precision was analyzed by comparing the deviation between the preoperational plan and the surgical outcome. The AR-based NS was successfully applied to quickly and precisely drill holes in the mandibles. The mean positional deviation between the preoperative design and intraoperative navigation was 1.29 ± 0.70 mm for the entry points and 2.47 ± 0.66 mm for the end points, and the angular deviation was 1.32° ± 1.17°. The precision linearly decreased with the distance from the marker. In conclusion, the precision of this system could satisfy clinical requirements, and this system may serve as a helpful tool for improving the precision in craniofacial surgery.

Path planning for minimally-invasive knee surgery using a hybrid optimization procedure

The aim of this study was to develop a procedure for medical tool path planning in minimally-invasive knee surgery. The collision-free paths for the tool were obtained using the control locations method with a hybrid optimization strategy. The tool and knee elements were described with surface meshes. The knee model allowed for bones displacement and variable incision size and location. The proposed procedure was proven to be effective in path planning for minimally-invasive surgery. It can serve as a valuable aid in surgery planning and may also be used in systems for autonomous or semi-autonomous knee surgery.

A novel planning solution for semi-autonomous aspiration of Baker's cysts

BACKGROUND

A Baker's cyst is a pathological structure located near a kneepit, which causes discomfort and reduces mobility of the knee. It is commonly treated with aspiration, which often requires MRI scanning and US guidance. The aim of this study was to propose a novel planning solution for semi-autonomous aspiration of the Baker's cyst using only MRI imaging.

METHODS

The proposed method requires minimal user input and offers automatic cyst segmentation with collision-free path planning for the assumed robotic structure with four degrees of freedom.

RESULTS

The prepared software was tested on four image sets obtained from patients eligible for cyst aspiration. It was possible to accurately segment the cyst in the considered cases. The collision-free path planning method was investigated in numerical scenarios.

CONCLUSIONS

The simulations verified the proposed software solution. Future work will be devoted to experimental verification of the path planning procedure.