Fast and accurate automated measurements in digitized stereophotogrammetric radiographs

Radiostereometric analysis: comparison of radiation dose and precision in digital and computed radiography

BACKGROUND

Radiostereometric Analysis (RSA) is used to measure fixation of joint prosthesis. This study compared radiation dose and image quality of a digital radiography (DR) RSA system and a computed radiography (CR) RSA system in a clinical setting.

METHODS

RSA recordings of 24 hips and shoulders were analyzed. We compared two systems: (1) Arcoma T0 with ST-VI image plates and Profect CR-IR 363 reader to (2) AdoraRSA with CXDI-70C wireless DR detectors in a clinical uniplanar RSA set-up with a ± 20 degrees tube angulation and 35 cm × 43 cm detectors. Effective dose was calculated using dedicated software. Image quality was evaluated using calibration errors as calculated by the RSA software.

RESULTS

The mean dose for hips was 0.14 (SD 0.04) mSv in the CR system and 0.05 (SD 0.02) mSv in the DR system. The mean dose for shoulders was 0.16 (SD 0.07) mSv in the CR system and 0.09 (SD 0.03) mSv in the DR system. Radiation dose was 64% (p < 0.001) and 43% (p = 0.03) lower in the DR system compared with the CR system for hip and shoulder RSA, respectively. Image quality was better for the DR system with 60-80% less calibration errors compared to the CR system.

CONCLUSION

Owing to highly efficient detectors and added filtration at the x-ray tubes, the DR system considerably reduced radiation dose compared with the CR system without compromising image quality. Based on the findings in this study, we recommend replacing CR RSA systems with DR RSA systems.

REGISTRATION

Patients were selected from clinical studies performed on the two systems and approved by the local ethics committee [20060165, M-20100112, M-20070082, M-20110224, and 20070258] and registered with ClinicalTrials.gov [NCT00408096, NCT01289834, NCT00913679, NCT02311179, and NCT00679120].

An interpolation technique to enable accurate three-dimensional joint kinematic analyses using asynchronous biplane fluoroscopy

Biplane 2D-3D model-based registration and radiostereometric analysis (RSA) approaches have been commonly used for measuring three-dimensional, in vivo joint kinematics. However, in clinical biplane systems, the x-ray images are acquired asynchronously, which introduces registration errors. The present study introduces an interpolation technique to reduce image registration error by generating synchronous fluoroscopy image estimates. A phantom study and cadaveric shoulder study were used to evaluate the level of improvement in image registration that could be obtained as a result of using our interpolation technique. Our phantom study results show that the interpolated bead tracking technique was in better agreement with the true bead positions than when asynchronous images were used alone. The overall RMS error of glenohumeral kinematics for interpolated biplane registration was reduced by 1.27 mm, 0.40 mm, and 0.47 mm in anterior-posterior, superior-inferior, and medial-lateral translation, respectively; and 0.47°, 0.67°, and 0.19° in ab-adduction, internal-external rotation and flexion-extension, respectively, compared to asynchronous registration. The interpolated biplane registration results were consistent with previously reported studies using custom synchronous biplane fluoroscopy technology. This approach will be particularly useful for improving the kinematic accuracy of high velocity activities when using clinical biplane fluoroscopes or two independent c-arms, which are available at a number of institutions.

Low-field magnetic resonance imaging offers potential for measuring tibial component migration

BACKGROUND

Roentgen stereophotogrammetric analysis (RSA) is used to measure early prosthetic migration and to predict future implant failure. RSA has several disadvantages, such as the need for perioperatively inserted tantalum markers. Therefore, this study evaluates low-field MRI as an alternative to RSA. The use of traditional MRI with prostheses induces disturbing metal artifacts which are reduced by low-field MRI. The purpose of this study is to assess the feasibility to use low-field (0.25 Tesla) MRI for measuring the precision of zero motion. This was assessed by calculating the virtual prosthetic motion of a zero-motion prosthetic reconstruction in multiple scanning sessions. Furthermore, the effects of different registration methods on these virtual motions were tested.

RESULTS

The precision of zero motion for low-field MRI was between 0.584 mm and 1.974 mm for translation and 0.884° and 3.774° for rotation. The manual registration method seemed most accurate, with μ ≤ 0.13 mm (σ ≤ 0.931 mm) for translation and μ ≤ 0.15° (σ ≤ 1.63°) for rotation.

CONCLUSION

Low-field MRI is not yet as precise as today's golden standard (marker based RSA) as reported in the literature. However, low-field MRI is feasible of measuring the relative position of bone and implant with comparable precision as obtained with marker-free RSA techniques. Of the three registration methods tested, manual registration was most accurate. Before starting clinical validation further research is necessary and should focus on improving scan sequences and registration algorithms.

The accuracy and precision of radiostereometric analysis in upper limb arthroplasty

Background and purpose - Radiostereometric analysis (RSA) is an accurate method for measurement of early migration of implants. Since a relation has been shown between early migration and future loosening of total knee and hip prostheses, RSA plays an important role in the development and evaluation of prostheses. However, there have been few RSA studies of the upper limb, and the value of RSA of the upper limb is not yet clear. We therefore performed a systematic review to investigate the accuracy and precision of RSA of the upper limb. Patients and methods - PRISMA guidelines were followed and the protocol for this review was published online at PROSPERO under registration number CRD42016042014. A systematic search of the literature was performed in the databases Embase, Medline, Cochrane, Web of Science, Scopus, Cinahl, and Google Scholar on April 25, 2015 based on the keywords radiostereometric analysis, shoulder prosthesis, elbow prosthesis, wrist prosthesis, trapeziometacarpal joint prosthesis, humerus, ulna, radius, carpus. Articles concerning RSA for the analysis of early migration of prostheses of the upper limb were included. Quality assessment was performed using the MINORS score, Downs and Black checklist, and the ISO RSA Results - 23 studies were included. Precision values were in the 0.06-0.88 mm and 0.05-10.7° range for the shoulder, the 0.05-0.34 mm and 0.16-0.76° range for the elbow, and the 0.16-1.83 mm and 11-124° range for the TMC joint. Accuracy data from marker- and model-based RSA were not reported in the studies included. Interpretation - RSA is a highly precise method for measurement of early migration of orthopedic implants in the upper limb. However, the precision of rotation measurement is poor in some components. Challenges with RSA in the upper limb include the symmetrical shape of prostheses and the limited size of surrounding bone, leading to over-projection of the markers by the prosthesis. We recommend higher adherence to RSA guidelines and encourage investigators to publish long-term follow-up RSA studies.

A titanium plasma-sprayed cup with and without hydroxyapatite-coating: a randomised radiostereometric study of stability and osseointegration

We present a prospective, two-centre radiostereometric analysis (RSA) regarding the stability of a flattened pole titanium press-fit cup (EP-FIT PLUS), and whether additional hydroxyapatite coating leads to faster bone ingrowth into the porous coating. Forty-two postmenopausal female patients (44 hips) undergoing total hip arthroplasty for primary osteoarthritis, selected to avoid hormonal factors influencing bone metabolism, were randomised to receive this cup with a titanium-plasma-sprayed surface with or without an additional hydroxyapatite coating. RSA was used to measure cup translation and rotation along three cardinal axes with respect to the host bone at the following time points: immediately postoperatively, at 6 weeks, and at 3, 6, 12, and 24 months. The most pronounced translation was proximal (0.11 mm) and posterior tilt (-0.27°). No difference in translation and rotation could be detected between the two groups. With the exception of one cup with an isolated radiolucent line <2 mm in zone 1, all cups showed complete osseointegration on conventional radiographs. The flattened pole cup provided excellent early stability and no advantage could be detected with additional hydroxyapatite coating.

Predicting 3D pose in partially overlapped X-ray images of knee prostheses using model-based Roentgen stereophotogrammetric analysis (RSA)

After total knee replacement, the model-based Roentgen stereophotogrammetric analysis (RSA) technique has been used to monitor the status of prosthetic wear, misalignment, and even failure. However, the overlap of the prosthetic outlines inevitably increases errors in the estimation of prosthetic poses due to the limited amount of available outlines. In the literature, quite a few studies have investigated the problems induced by the overlapped outlines, and manual adjustment is still the mainstream. This study proposes two methods to automate the image processing of overlapped outlines prior to the pose registration of prosthetic models. The outline-separated method defines the intersected points and segments the overlapped outlines. The feature-recognized method uses the point and line features of the remaining outlines to initiate registration. Overlap percentage is defined as the ratio of overlapped to non-overlapped outlines. The simulated images with five overlapping percentages are used to evaluate the robustness and accuracy of the proposed methods. Compared with non-overlapped images, overlapped images reduce the number of outlines available for model-based RSA calculation. The maximum and root mean square errors for a prosthetic outline are 0.35 and 0.04 mm, respectively. The mean translation and rotation errors are 0.11 mm and 0.18°, respectively. The errors of the model-based RSA results are increased when the overlap percentage is beyond about 9%. In conclusion, both outline-separated and feature-recognized methods can be seamlessly integrated to automate the calculation of rough registration. This can significantly increase the clinical practicability of the model-based RSA technique.

Stable fixation of the IBP humeral component implanted without cement in total elbow replacement: a radiostereometric analysis study of 16 elbows at two-year follow-up

We determined the short-term clinical outcome and migration within the bone of the humeral cementless component of the Instrumented Bone Preserving (IBP) total elbow replacement in a series of 16 patients. There were four men and 12 women with a mean age at operation of 63 years (40 to 81). Migration was calculated using radiostereometric analysis. There were no intra-operative complications and no revisions. At two-year follow-up, all patients showed a significant reduction in pain and functional improvement of the elbow (both p < 0.001). Although ten components (63%) showed movement or micromovement during the first six weeks, 14 (88%) were stable at one year post-operatively. Translation was primarily found in the proximal direction (median 0.3 mm (interquartile range (IQR) -0.09 to 0.8); the major rotational movement was an anterior tilt (median 0.7° (IQR 0.4° to 1.6°)). One malaligned component continued to migrate during the second year, and one component could not be followed beyond three months because migration had caused the markers to break off the prosthesis. This study shows promising early results for the cementless humeral component of the IBP total elbow replacement. All patients had a good clinical outcome, and most components stabilised within six months of the operation.

Dependence of model-based RSA accuracy on higher and lower implant surface model quality

Background

Model-based Roentgen Stereophotogrammetric Analysis (MBRSA) allows the accurate in vivo measurement of the relative motion between an implant and the surrounding bone (migration), using pose-estimation algorithms and three dimensional geometric surface models of the implant. The goal of this study was thus to investigate the effect of surface model resolution on the accuracy of the MBRSA method.

Methods

Four different implant geometries (knee femoral and tibial components, and two different hip stems) were investigated, for each of which two reversed engineering (RE) models of differing spatial digitizing resolution were generated. Accuracy of implant migration measurement using MBRSA was assessed in dependence on surface model resolution using an experimental phantom-model set up.

Results

When using the lower quality RE models, the worst bias observed ranged from -0.048 to 0.037 mm, and -0.057 to 0.078 deg for translation and rotation respectively. For higher quality reverse engineering models, bias ranged from -0.042 to 0.048 mm, and -0.449 to 0.029 deg. The pair-wise comparisons of digitizing resolution (higher vs. lower quality) within the different implant type revealed significant differences only for the hip stems (p < 0.001).

Conclusion

The data suggest that the application of lower resolution RE models for MBRSA is a viable alternative method for the in vivo measurement of implant migration, in particular for implants with non symmetrical geometries (total knee arthroplasty). Implants with larger length to width aspect ratio (total hip arthroplasty) may require high resolution RE models in order to achieve acceptable accuracy. Conversely, for some axis the bias for translation are clearly worse for translation, and are marginally better for rotations using the lower resolution RE models instead of the higher ones. However, performed box plots ranges were well within what has been reported in the literature. The observed lower accuracy and precision of the measurements for hip stem components for rotations about the superior-inferior direction is presumably the result of the nature of the MBRSA method. This well known effect within MBRSA for rotations about the axis of symmetry of axially-symmetric objects do not change the contour of the projected image to as large a degree as motion about a non-symmetric axes. It is not possible to detected this small motion as accurately using pose-estimation methods. This may affect the “higher” accuracy for the applied lower resolution RE models.

Improvement in the clinical practicability of roentgen stereophotogrammetric analysis (RSA): free from the use of the dual X-ray equipment

After total knee replacement, the monitoring of the prosthetic performance is often done by roentgenographic examination. However, the two-dimensional (2D) roentgen images only provide information about the projection onto the anteroposterior (AP) and mediolateral (ML) planes. Historically, the model-based roentgen stereophotogrammetric analysis (RSA) technique has been developed to predict the spatial relationship between prostheses by iteratively comparing the projective data for the prosthetic models and the roentgen images. During examination, the prosthetic poses should be stationary. This should be ensured, either by the use of dual synchronized X-ray equipment or by the use of a specific posture. In practice, these methods are uncommon or technically inconvenient during follow-up examination. This study aims to develop a rotation platform to improve the clinical applicability of the model-based RSA technique. The rotation platform allows the patient to assume a weight-bearing posture, while being steadily rotated so that both AP and ML knee images can be obtained. This study uses X-ray equipment with a single source and flat panel detectors (FPDs). Four tests are conducted to evaluate the quality of the FPD images, steadiness of the rotation platform, and accuracy of the RSA results. The results show that the distortion-induced error of the FPD image is quite minor, and the prosthetic size can be cautiously calibrated by means of the scale ball(s). The rotation platform should be placed closer to the FPD and orthogonal to the projection axis of the X-ray source. Image overlap of the prostheses can be avoided by adjusting both X-ray source and knee posture. The device-induced problems associated with the rotation platform include the steadiness of the platform operation and the balance of the rotated subject. Sawbone tests demonstrate that the outline error, due to the platform, is of the order of the image resolution (= 0.145 mm). In conclusion, the rotation platform with steady rotation, a knee support, and a handle can serve as an alternative method to take prosthetic images, without the loss in accuracy associated with the RSA method.

A cementless, elastic press-fit socket with and without screws

BACKGROUND

The acetabular component has remained the weakest link in hip arthroplasty regarding achievement of long-term survival. Primary fixation is a prerequisite for long-term performance. For this reason, we investigated the stability of a unique cementless titanium-coated elastic monoblock socket and the influence of supplementary screw fixation.

PATIENT AND METHODS

During 2006-2008, we performed a randomized controlled trial on 37 patients (mean age 63 years (SD 7), 22 females) in whom we implanted a cementless press-fit socket. The socket was implanted with additional screw fixation (group A, n = 19) and without additional screw fixation (group B, n = 18). Using radiostereometric analysis with a 2-year follow-up, we determined the stability of the socket. Clinically relevant migration was defined as > 1 mm translation and > 2º rotation. Clinical scores were determined.

RESULTS

The sockets without screw fixation showed a statistically significantly higher proximal translation compared to the socket with additional screw fixation. However, this higher migration was below the clinically relevant threshold. The numbers of migratory sockets were not significantly different between groups. After the 2-year follow-up, there were no clinically relevant differences between groups A and B regarding the clinical scores. 1 patient dropped out of the study. In the others, no sockets were revised.

INTERPRETATION

We found that additional screw fixation is not necessary to achieve stability of the cementless press-fit elastic RM socket. We saw no postoperative benefit or clinical effect of additional screw fixation.

Influence of aneurysm wall stiffness and the presence of intraluminal thrombus on the wall movement of an aneurysm - an in vitro study

The purpose of this in vitro study was to investigate the influence of aneurysm wall stiffness and of the presence of intraluminal thrombus (ILT) on aneurysm wall movement. Three latex aneurysms were used with different wall stiffness. The aneurysms, equipped with 20 tantalum markers, were attached to an in vitro circulation model. Fluoroscopic roentgenographic stereo photogrammetric analysis was used to measure marker movement during six cardiac cycles at three different systemic pressures. To investigate the influence of ILT on wall movement, we repeated the same experiment with one of the aneurysms. The aneurysm sac was then filled with one of two E-moduli differing thrombus analogues (Novalyse 8 and 20) or with perfusate as a control. It was noted that the amplitude of the wall movement (mm) increased significantly (P < 0.05) as the compliance of the wall increased. The mean amplitude of the wall movement decreased (P < 0.05) as the stiffness (E-modulus) of the ILT increased. In conclusion, ILT has a 'cushioning effect'. Wall movement (and theoretically wall stress) diminishes when the stiffness of the ILT increases. Compliance of the aneurysm wall influences wall movement. When the stiffness of the wall increases, the wall movement diminishes.

Improved execution efficiency of model-based roentgen stereophotogrammetric analysis: simplification and segmentation of model meshes

Recently, the model-based roentgen stereophotogrammetric analysis (RSA) method has been developed as an in vivo tool to estimate static pose and dynamic motion of the instrumented prostheses. The two essential inputs for the RSA method are prosthetic models and roentgen images. During RSA calculation, the implants are often reversely scanned and input in the form of meshes to estimate the outline error between prosthetic projection and roentgen images. However, the execution efficiency of the RSA iterative calculation may limit its clinical practicability, and one reason for inefficiency may be very large number of meshes in the model. This study uses two methods of mesh manipulation to improve the execution efficiency of RSA calculation. The first is to simplify the model meshes and the other is to segment and delete the meshes of insignificant regions. An index (i.e. critical percentage) of an optimal element number is defined as the trade-off between execution efficiency and result accuracy. The predicted results are numerically validated by total knee prosthetic system. The outcome shows that the optimal strategy of the mesh manipulation is simplification and followed by segmentation. On average, the element number can even be reduced to 1% of the original models. After the mesh manipulation, the execution efficiency can be increased about 75% without compromising the accuracy of the predicted RSA results (the increment of rotation and translation error: 0.06° and 0.02 mm). In conclusion, prosthetic models should be manipulated by simplification and segmentation methods prior to the RSA calculation to increase the execution efficiency and then to improve clinical applicability of the RSA method.

The accuracy and repeatability of an automatic 2D-3D fluoroscopic image-model registration technique for determining shoulder joint kinematics

Fluoroscopic imaging, using single plane or dual plane images, has grown in popularity to measure dynamic in vivo human shoulder joint kinematics. However, no study has quantified the difference in spatial positional accuracy between single and dual plane image-model registration applied to the shoulder joint. In this paper, an automatic 2D-3D image-model registration technique was validated for accuracy and repeatability with single and dual plane fluoroscopic images. Accuracy was assessed in a cadaver model, kinematics found using the automatic registration technique were compared to those found using radiostereometric analysis. The in vivo repeatability of the automatic registration technique was assessed during the dynamic abduction motion of four human subjects. The in vitro data indicated that the error in spatial positional accuracy of the humerus and the scapula was less than 0.30mm in translation and less than 0.58° in rotation using dual plane images. Single plane accuracy was satisfactory for in-plane motion variables, but out-of-plane motion variables on average were approximately 8 times less accurate. The in vivo test indicated that the repeatability of the automatic 2D-3D image-model registration was 0.50mm in translation and 1.04° in rotation using dual images. For a single plane technique, the repeatability was 3.31mm in translation and 2.46° in rotation for measuring shoulder joint kinematics. The data demonstrate that accurate and repeatable shoulder joint kinematics can be obtained using dual plane fluoroscopic images with an automatic 2D-3D image-model registration technique; and that out-of-plane motion variables are less accurate than in-plane motion variables using a single plane technique.

Automatic model-based roentgen stereophotogrammetric analysis (RSA) of total knee prostheses

Conventional radiography is insensitive for early and accurate estimation of the mal-alignment and wear of knee prostheses. The two-staged (rough and fine) registration of the model-based RSA technique has recently been developed to in vivo estimate the prosthetic pose (i.e, location and orientation). In the literature, rough registration often uses template match or manual adjustment of the roentgen images. Additionally, possible error induced by the nonorthogonality of taking two roentgen images neither examined nor calibrated prior to fine registration. This study developed two RSA methods for automate the estimation of the prosthetic pose and decrease the nonorthogonality-induced error. The predicted results were validated by both simulative and experimental tests and compared with reported findings in the literature. The outcome revealed that the feature-recognized method automates pose estimation and significantly increases the execution efficiency up to about 50 times in comparison with the literature counterparts. Although the nonorthogonal images resulted in undesirable errors, the outline-optimized method can effectively compensate for the induced errors prior to fine registration. The superiority in automation, efficiency, and accuracy demonstrated the clinical practicability of the two proposed methods especially for the numerous fluoroscopic images of dynamic motion.

A new registration method for three-dimensional knee nearthrosis model using two X-ray images

The purpose of this study is to develop a method to analyse the pose of the knee nearthrosis mounted and to automate the registration procedure for easy use in clinical applications. The proposed registration method is essentially a model-based method, in which the CAD model is acquired by reverse engineering. The CAD model is converted into a two-dimensional (2D) image by a rendering technique, and the compatibility of the X-ray image and the image of the CAD model is investigated. To avoid the optimisation of six unknown parameters with respect to the relative pose between the condyle and tibial models, a 2D coordinate system is set on each component of the X-ray images. A 3D coordinate system is also set on each of the two nearthrosis components. With such a setup, there is only one unknown rotational angle on each component, which is determined by an optimum algorithm in accordance with the contour error between the X-ray image and the image of the CAD model. Extensive computer simulation and in vitro experiments using real X-ray images have been implemented to investigate the feasibility of the proposed registration method.

Early full weight bearing is safe in open-wedge high tibial osteotomy

BACKGROUND AND PURPOSE

In open-wedge, valgus osteotomy of the upper tibia, there are concerns regarding the initial stability and ability to retain the correction. Rehabilitation protocols vary depending on the osteotomy technique and the fixation method. Angle-stable implants offer superior initial stability. Early full weight bearing appears to be possible using these implants. In this prospective cohort study, we measured migration in open-wedge osteotomy in patients following an early full weight bearing protocol and compared the results to those from a historical cohort of open-wedge osteotomy patients who followed a standard protocol (full weight bearing after 6 weeks) using radiostereometry.

METHODS

14 open-wedge osteotomies fixated with the angle-stable Tomofix implant were performed; patients were allowed full weight bearing as soon as pain and wound healing permitted. Radiostereometry was used to measure motion across the osteotomy at regular intervals. Improvement in pain and functional outcome were assessed postoperatively. The results were compared to those from a group of 23 patients who had undergone the same operation but had used a standard rehabilitation protocol.

RESULTS

There were no adverse effects because of the early full weight bearing protocol. There were no differences in motion at the osteotomy between groups as measured by radiostereometry. In both groups, pain and function improved substantially without any differences between groups. Patients in the early weight bearing group achieved the same result but in a shorter time.

INTERPRETATION

Tomofix-plate-fixated open-wedge high tibial osteotomy allows early full weight bearing without loss of correction.

Fixation stability of opening- versus closing-wedge high tibial osteotomy: a randomised clinical trial using radiostereometry

Valgus high tibial osteotomy for osteoarthritis of the medial compartment of the knee can be performed using medial opening- and lateral closing-wedge techniques. The latter have been thought to offer greater initial stability. We measured and compared the stability of opening- and closing-wedge osteotomies fixed by TomoFix plates using radiostereometry in a series of 42 patients in a prospective, randomised clinical trial. There were no differences between the opening- and closing-wedge groups in the time to regain knee function and full weight-bearing. Pain and knee function were significantly improved in both groups without any differences between them. All the osteotomies united within one year. Radiostereometry showed no clinically relevant movement of bone or differences between either group. Medial opening-wedge high tibial osteotomy secured by a TomoFix plate offers equal stability to a lateral closing-wedge technique. Both give excellent initial stability and provide significantly improved knee function and reduction in pain, although the opening-wedge technique was more likely to produce the intended correction.

Fluoroscopic Roentgen stereophotogrammetric analysis (FRSA) to study three-dimensional stent graft dynamics

We report the clinical feasibility of fluoroscopic Roentgen stereophotogrammetric analysis (FRSA), a validated method to quantify real time three-dimensional (3D) dynamic motion of stent grafts and the first clinical results after abdominal and thoracic endovascular repair (EVAR). Stent graft motion was measured at 30 (stereo) frames per second, during the cardiac cycle and in the patient after abdominal EVAR, due to respiratory action. Translational motions of the center of mass, diameter change, and rotational and axial motion could be measured. Quantification of 3D motion was not available until now. FRSA can provide crucial information on the forces exerted on stent grafts and will, therefore, provide essential information for improvements in stent graft design.

Experimental Analysis of Model-Based Roentgen Stereophotogrammetric Analysis (MBRSA) on Four Typical Prosthesis Components

Classical marker-based roentgen stereophotogrammetric analysis (RSA) is an accurate method of measuring in vivo implant migration. A disadvantage of the method is the necessity of placing tantalum markers on the implant, which constitutes additional manufacturing and certification effort. Model-based RSA (MBRSA) is a method by which pose-estimation of geometric surface-models of the implant is used to detect implant migration. The placement of prosthesis markers is thus no longer necessary. The accuracy of the pose-estimation algorithms used depends on the geometry of the prosthesis as well as the accuracy of the surface models used. The goal of this study was thus to evaluate the experimental accuracy and precision of the MBRSA method for four different, but typical prosthesis geometries, that are commonly implanted. Is there a relationship existing between the accuracy of MBRSA and prosthesis geometries? Four different prosthesis geometries were investigated: one femoral and one tibial total knee arthroplasty (TKA) component and two different femoral stem total hip arthroplasty (THA) components. An experimental phantom model was used to simulate two different implant migration protocols, whereby the implant was moved relative to the surrounding bone (relative prosthesis-bone motion (RM)), or, similar to the double-repeated measures performed to assess accuracy clinically, both the prosthesis and the surrounding bone model (zero relative prosthesis-bone motion (ZRM)) were moved. Motions were performed about three translational and three rotational axes, respectively. The maximum 95% confidence interval (CI) for MBRSA of all four prosthesis investigated was better than −0.034 to 0.107 mm for in-plane and −0.217 to 0.069 mm for out-of-plane translation, and from −0.038 deg to 0.162 deg for in-plane and from −1.316 deg to 0.071 deg for out-of-plane rotation, with no clear differences between the ZRM and RM protocols observed. Accuracy in translation was similar between TKA and THA components, whereas rotational accuracy about the long axis of the hip stem THA components was worse than the TKA components. The data suggest that accuracy and precision of MBRSA seem to be equivalent to the classical marker-based RSA method, at least for the nonsymmetric implant geometries investigated in this study. The model-based method thus allows the accurate measurement of implant migration without requiring prosthesis markers, and thus presents new opportunities for measuring implant migration where financial or geometric considerations of marker placement have thus far been prohibitive factors.

Evaluation of Bernese periacetabular osteotomy: prospective studies examining projected load-bearing area, bone density, cartilage thickness and migration

The typical dysplastic hip joint is characterised by maldirection of the acetabulum and femoral neck, insufficient coverage of the femoral head focally and globally and erosions of the limbus acetabuli (1). An unknown number of persons with hip dysplasia will suffer from pain in hip or groin, decreased hip function and development of osteoarthritis at a young age. The Bernese periacetabular osteotomy is performed to prevent osteoarthritis in patients with hip dysplasia and has been carried out at Aarhus University Hospital, Denmark since 1996 with more than 500 osteotomies performed. Throughout the years, research and quality improvement of the treatment has taken place and this PhD thesis is part of that process. The aims of this PhD thesis were to evaluate outcome aspects after periacetabular osteotomy in terms of I) estimating the projected loadbearing surface before and after periacetabular osteotomy, II) estimating bone density changes in the acetabulum after periacetabular osteotomy, III) developing a technique to precisely and efficiently estimate the thickness of the articular cartilage in the hip joint and IV) examining the stability of the re-orientated acetabulum after periacetabular osteotomy. In study I, we applied a stereologic method based on 3D computed tomography (CT) to estimate the projected loadbearing surface in six normal hip joints and in six dysplastic hips. The dysplastic hips were CT scanned before and after periacetabular osteotomy. We found that the average area of the projected loadbearing surface of the femoral head preoperatively was 7.4 (range 6.5-8.4) cm2 and postoperatively 11 (9.8-14.3) cm2. The area of the projected loadbearing surface was increased significantly with a mean of 49% (34-70%) postoperatively and thus comparable with the load-bearing surface in the normal control group. Double measurements were performed and the error variance of the mean was estimated to be 1.6%. The effect of overprojection, on the projected loadbearing surface was minimal. Consequently, the stereo-logic method proved to be precise and unbiased. The study indicates that this method is applicable in monitoring the loadbearing area in the hip joint of patients undergoing periacetabular osteotomy. In study II, a method based on CT and 3D design-based sampling principles was used to estimate bone density in different regions of the acetabulum. Baseline density was measured within the first seven days following periacetabular osteotomy and compared with density two years postoperatively. Double measurements were performed on three patients, and the error variance was estimated to be 0.05. Six patients with hip dysplasia scheduled for periacetabular osteotomy were consecutively included in the study. Bone density increased significantly in the anteromedial quadrant of the acetabulum as well as in the posteromedial quadrant between the two time-points. In the anterolateral quadrant bone density was unchanged following surgery, and the same was true for the posterolateral quadrant. We suggest that the observed increase in bone density medially represents a remodelling response to an altered load distribution after periacetabular osteotomy. The described method is a precise tool to estimate bone density changes in the acetabulum. Study III. As periacetabular osteotomy is performed on dysplastic hips to prevent osteoarthritic progression, changes in the thickness of the articular cartilage is a central variable to follow over time. 26 dysplastic hips on 22 females and 4 males were magnetic resonance imaged (MRI) preoperatively. The first 13 patients were examined twice, with complete repositioning of the patient and set-up in order to obtain an estimate of the precision of the method used. To show the acetabular and femoral cartilages separately, an ankle traction device was used during MRI. This device pulled the leg distally with a load of 10 kg. The mean thickness of the acetabular cartilage was 1.26 mm, SD 0.04 mm. The mean thickness of the femoral cartilage was 1.18 mm, SD 0.06. The precision calculated as the error variance was estimated for the thickness of the acetabular cartilage to 0.01 and femoral cartilage 0.02. We suggest that the method can be advantageous for assessing the progression of osteoarthritis in dysplastic hips after periacetabular osteotomy. In study IV, 32 dysplastic hips, 27 females and 5 males were included in the study. Radiostereometric examinations (RSA) were done at one week, four weeks, eight weeks and six months. Data are presented as mean + SD. Six months postoperatively, the acetabular fragment had migrated 0.7 mm + 0.8 medially, and 0.7 mm + 0.5 proximally. Mean rotation in adduction was 0.5 degrees + 1.3. In other directions, mean migration was below 0.5 mm/degrees. There was no statistical difference between migration 8 weeks and 24 weeks postoperatively in translation or rotation. Due to the limited migration, we find our postoperative partial weight-bearing regime safe. In conclusion, the studies in the present PhD thesis indicate that the projected loadbearing area of the hip joint increases considerable in patients undergoing periacetabular osteotomy and a method to estimate this area was described. Bone density increases in the medial quadrants two years postoperative and a method is developed to precisely estimate bone density on CT images. Also a method to precisely estimate cartilage thickness was presented and we suggest that the method can be advantageous for assessing the progression of osteoarthritis in dysplastic hips after periacetabular osteotomy. Due to the very limited migration of the acetabular fragment fixated with two screws, we find our fixation sufficient and the postoperative partial weight-bearing regimen safe.

Development of an RSA calibration system with improved accuracy and precision

In this study, a new radiostereometric analysis (RSA) calibration cage was developed with the aim of improving the accuracy and precision of RSA. This development consisted of three steps: a numerical simulation technique was first used to design the new cage; a synthetic imaging method was then implemented to predict the performance of the designed cage before it was actually fabricated; and an experimental phantom test was finally conducted to verify the actual performance of the new cage and compare with two currently widely used cages. Accuracy was calculated as the 95% prediction intervals from regression analyses between the measured and actual displacements, and precision was defined as the standard deviation of repeated measurements. The final experimental phantom tests showed that the accuracy and precision of the new calibration cage were improved by about 40% over an existing biplanar cage and by about 70% compared to a uniplanar cage design. This new cage can be used with any skeletal joints, in either static or kinematic examination, which is helpful for the standardization of the RSA application.

Assessment of three-dimensional stent-graft dynamics by using fluoroscopic roentgenographic stereophotogrammetric analysis

OBJECTIVE

To validate the use of fluoroscopic roentgenographic stereophotogrammetric analysis (FRSA) for its feasibility and accuracy for measuring the three-dimensional dynamic motion of stent grafts.

METHODS

A digital biplane fluoroscopy setup was calibrated (Siemens Axiom Artis dBc). Stereo images were acquired of a static aortic model with a stent graft in different axial positions, imposed by a micromanipulator. The three-dimensional measurement error of FRSA was determined by comparing FRSA measurements with the micromanipulator. An aortic model with a stent graft was constructed and connected to an artificial circulation with a physiological flow and pressure profile. Markers were added to the spine (tantalum spherical markers; diameter 1 mm) and stent (welding tin; diameter 1 mm). The three-dimensional measurement precision was determined by measuring the position of a single (stable) spine marker during two pulsatile cycles. Finally, three-dimensional stent marker motion was analyzed with a frame rate of 30 images per second, including three-dimensional marker position (change), diameter change, and center of circle position change.

RESULTS

The mean error of FRSA measurement of displacement was 0.003 mm (SD, 0.019 mm; maximum error, 0.058 mm). A very high precision of position measurement was found (SD, 0.009-0.015 mm). During pulsatile motion, the position (changes) of the markers could be assessed in the x, y, and z directions, as well as the stent diameter change and center of circle position change.

CONCLUSIONS

FRSA has proven to be a method with very high accuracy and temporal resolution to measure three-dimensional stent-graft motion in a pulsatile environment. This technique has the potential to contribute significantly to the knowledge of stent-graft behavior after endovascular aneurysm repair and improvements in stent-graft design. The technique is ready for clinical testing.

High-precision measurements of cementless acetabular components using model-based RSA: an experimental study

BACKGROUND

In RSA, tantalum markers attached to metal-backed acetabular cups are often difficult to detect on stereo radiographs due to the high density of the metal shell. This results in occlusion of the prosthesis markers and may lead to inconclusive migration results. Within the last few years, new software systems have been developed to solve this problem. We compared the precision of 3 RSA systems in migration analysis of the acetabular component.

MATERIAL AND METHODS

A hemispherical and a non-hemispherical acetabular component were mounted in a phantom. Both acetabular components underwent migration analyses with 3 different RSA systems: conventional RSA using tantalum markers, an RSA system using a hemispherical cup algorithm, and a novel model-based RSA system.

RESULTS

We found narrow confidence intervals, indicating high precision of the conventional marker system and model-based RSA with regard to migration and rotation. The confidence intervals of conventional RSA and model-based RSA were narrower than those of the hemispherical cup algorithm-based system regarding cup migration and rotation.

INTERPRETATION

The model-based RSA software combines the precision of the conventional RSA software with the convenience of the hemispherical cup algorithm-based system. Based on our findings, we believe that these new tools offer an improvement in the measurement of acetabular component migration.

Safe fixation with two acetabular screws after Ganz periacetabular osteotomy

BACKGROUND AND PURPOSE

With Ganz periacetabular osteotomy, the osteotomized acetabular fragment is reoriented in an adducted, extended, and rotated position. The acetabular fragment is fixated with 2 screws and the patients are allowed 30 kg of weight bearing immediately after surgery. We were interested in examining the stability of the reoriented acetabulum after Ganz osteotomy; thus, the migration of the acetabular fragment was assessed by radiostereometry.

PATIENTS AND METHODS

32 dysplastic patients (27 females; 32 hips) were included in the study. Median age was 39 (20-57) years. Radiostereometric examinations were done at 1 week, 4 weeks, 8 weeks and 6 months. Data are presented as mean (SD).

RESULTS

6 months postoperatively, the acetabular fragment had migrated 0.7 (0.8) mm medially, and 0.7 (0.5) mm proximally. Mean rotation in adduction was 0.5 degrees (1.3). In other directions, mean migration was below 0.5 mm/degrees. There were no statistically significant differences in migration at 8 weeks and 24 weeks postoperatively regarding translation and rotation.

INTERPRETATION

Due to the limited amount of migration, we find our postoperative partial weight-bearing regime safe.

Accurate Detection of Stent-Graft Migration in a Pulsatile Aortic Model Using Roentgen Stereophotogrammetric Analysis

PURPOSE

To evaluate the feasibility and accuracy of Roentgen stereophotogrammetric analysis (RSA) versus computed tomography (CT) for detecting stent-graft migration in an in vitro pulsatile circulation model and to study the feasibility of a nitinol endovascular clip (NEC) as an aortic wall reference marker for RSA.

METHODS

An aortic model with stent-graft was constructed and connected to an artificial circulation with a physiological flow and pressure profile. Tantalum markers and NECs were used as aortic reference markers for RSA analysis. Stent-graft migrations were measured during pulsatile circulation with RSA and CT. CT images acquired with 64 x 0.5-mm beam collimation were analyzed with Vitrea postprocessing software using a standard clinical protocol and central lumen line reconstruction. RSA in the model with the circulation switched off was used as the reference standard to determine stent-graft migration. The measurement errors of RSA and CT were determined during pulsatile circulation.

RESULTS

The mean measurement error +/- standard deviation (maximum) of RSA during pulsatile circulation using the tantalum markers was -0.5+/-0.16 (0.7) mm. Using the NEC, the mean (maximum) measurement error was -0.4+/-0.25 (1.1) mm. The mean (maximum) measurement error of CT was -1.1+/-1.17 (2.8) mm.

CONCLUSION

RSA is an accurate and feasible tool to measure stent-graft migration in a pulsatile environment. Migration measurement with RSA was more accurate than CT in this experimental setup. The nitinol clip tested in this study is potentially feasible as an aortic reference marker in patients after endovascular repair.

Limited rotation of the mobile-bearing in a rotating platform total knee prosthesis

The hypothesis of this study was that the polyethylene bearing in a rotating platform total knee prosthesis shows axial rotation during a step-up motion, thereby facilitating the theoretical advantages of mobile-bearing knee prostheses. We examined 10 patients with rheumatoid arthritis who had a rotating platform total knee arthroplasty (NexGen LPS mobile, Zimmer Inc. Warsaw, USA). Fluoroscopic data was collected during a step-up motion six months postoperatively. A 3D-2D model fitting technique was used to reconstruct the in vivo 3D kinematics. The femoral component showed more axial rotation than the polyethylene mobile-bearing insert compared to the tibia during extension. In eight knees, the femoral component rotated internally with respect to the tibia during extension. In the other two knees the femoral component rotated externally with respect to the tibia. In all 10 patients, the femur showed more axial rotation than the mobile-bearing insert indicating the femoral component was sliding on the polyethylene of the rotating platform during the step-up motion. Possible explanations are a too limited conformity between femoral component and insert, the anterior located pivot location of the investigated rotating platform design, polyethylene on metal impingement and fibrous tissue formation between the mobile-bearing insert and the tibial plateau.

Soft-tissue artefact assessment during step-up using fluoroscopy and skin-mounted markers

When measuring knee kinematics with skin-mounted markers, soft tissue and structures surrounding the knee hide the actual underlying segment kinematics. Soft-tissue artefacts can be reduced when plate-mounted markers or marker trees are used instead of individual unconstrained mounted markers. The purpose of this study was to accurately quantify the soft-tissue artefacts and to compare two marker cluster fixation methods by using fluoroscopy of knee motion after total knee arthroplasty during a step-up task. Ten subjects participated 6 months after their total knee arthroplasty. The patients were randomised into (1) a plate-mounted marker group and (2) a strap-mounted marker group. Fluoroscopic data were collected during a step-up motion. A three-dimensional model fitting technique was used to reconstruct the in vivo 3-D positions of the markers and the implants representing the bones. The measurement errors associated with the thigh were generally larger (maximum translational error: 17mm; maximum rotational error 12 degrees ) than the measurement errors for the lower leg (maximum translational error: 11mm; maximum rotational error 10 degrees ). The strap-mounted group showed significant more translational errors than the plate-mounted group for both the shank (respectively, 3+/-2.2 and 0+/-2.0mm, p = 0.025) and the thigh (2+/-2.0 and 0+/-5.9mm, p = 0.031). The qualitative conclusions based on interpretation of the calculated estimates of effects within the longitudinal mixed-effects modelling evaluation of the data for the two groups (separately) were effectively identical. The soft-tissue artefacts across knee flexion angle could not be distinguished from zero for both groups. For all cases, recorded soft-tissue artefacts were less variable within subjects than between subjects. The large soft-tissue artefacts, when using clustered skin markers, irrespective of the fixation method, question the usefulness of parameters found with external movement registration and clinical interpretation of stair data in small patient groups.

[Clinical evaluation tools of total hip arthroplasties]

Total hip arthroplasty is one of the most efficient hip surgery procedures enabling improved function in the vast majority of operated patients. The major long-term complication is aseptic loosening due to an inflammatory response to particle wear debris coming from the bearings. Polyethylene is the key culprit. Currently two solutions are proposed: eliminating polyethylene from the prosthetic articulation or reducing material wear. This leads to the need for reliable tools for evaluating short-term results, predictive of long-term outcome. When the innovation concerns reduction of polyethylene wear, short-term wear should be measured with software methods or radiostereometry. If the innovation concerns improvement of polyethyleneless implants, then short-term migration should be measured with EBRA or radiostereometry. In addition, the long-term retrospective evaluation of large series of patients remains of major interest provided that it is performed with survival analysis. These different methods are detailed in this study, indicating the pros and cons for each solution.

Roentgen Stereophotogrammetric Analysis: An Accurate Tool to Assess Stent-Graft Migration

PURPOSE

To evaluate in an in vitro model the feasibility and accuracy of Roentgen stereophotogrammetric analysis (RSA) versus computed tomography (CT) for the ability to detect stent-graft migration.

METHODS

An aortic model was constructed from a 22-mm-diameter Plexiglas tube with 6-mm polytetrafluoroethylene inlays to mimic the renal arteries. Six tantalum markers were placed in the wall of the aortic tube proximal to the renal arteries. Another 6 markers were added to a Gianturco stent, which was cast in Plexiglas and placed inside the aorta and fixed to a micromanipulator to precisely control displacement of the stent along the longitudinal axis. Sixteen migrations were analyzed with RSA software and compared to the micromanipulator. Thirty-two migrations were measured by 3 observers from CT images acquired with 16x0.5-mm beam collimation and reconstructed with a 0.5-mm slice thickness and a 0.4-mm reconstruction interval. Measurements were made with Vitrea postprocessing software using a standard clinical protocol and central lumen line reconstruction. Results of CT were also compared to the micromanipulator.

RESULTS

The mean RSA measurement error compared to the micromanipulator was 0.002+/-0.044 mm, and the maximum error was 0.10 mm. There was no statistically significant interobserver variability for CT (p=0.17). The pooled mean (maximum) measurement error of CT was 0.14+/-0.29 (1.00) mm, which was significantly different from the RSA measurement error (p<0.0001).

CONCLUSION

Detection of endograft migration by RSA is feasible and was significantly more accurate than CT in this nonpulsatile in vitro model.

Model-based RSA of a femoral hip stem using surface and geometrical shape models

Roentgen stereophotogrammetry (RSA) is a highly accurate three-dimensional measuring technique for assessing micromotion of orthopaedic implants. A drawback is that markers have to be attached to the implant. Model-based techniques have been developed to prevent using special marked implants. We compared two model-based RSA methods with standard marker-based RSA techniques. The first model-based RSA method used surface models, and the second method used elementary geometrical shape (EGS) models. We used a commercially available stem to perform experiments with a phantom as well as reanalysis of patient RSA radiographs. The data from the phantom experiment indicated the accuracy and precision of the elementary geometrical shape model-based RSA method is equal to marker-based RSA. For model-based RSA using surface models, the accuracy is equal to the accuracy of marker-based RSA, but its precision is worse. We found no difference in accuracy and precision between the two model-based RSA techniques in clinical data. For this particular hip stem, EGS model-based RSA is a good alternative for marker-based RSA.

The history and future of radiostereometric analysis

Roentgen stereophotogrammetry allows one to localize the position of an object in space using roentgen rays. For orthopaedic purposes it was developed 35 years ago by Göran Selvik, and since that time many investigators have refined the radiostereometric calculations and evaluative software. Many uses and mathematical algorithms have been developed, and advancements in computer programs and digital radiography continue to expand its capabilities. Despite these advances, improvements in the technical accuracy and type of kinematic analyses possible have been relatively modest. However, radiostereometric analysis is now easier and less time consuming to use, with a resolution in clinical practice almost equal to what could only previously be obtained under ideal laboratory conditions. The ability to measure skeletal and implant movements with high resolution in vivo images was an important progressive step for the orthopaedic community. Radiostereometric analysis has helped develop new fields in clinical orthopaedic research and continues to improve advancements in orthopaedic health care.

Failure of the uncoated titanium ProxiLock femoral hip prosthesis

New prostheses should be evaluated for stability and clinical performance. In a prospective randomized clinical trial, we implanted 22 titanium (Ti) and 20 hydroxyapatite-coated (HA) ProxiLock femoral hip prostheses during total hip arthroplasty in 42 patients. The patients were followed for 24 months with clinical, radiographic and radiostereometric analysis. Full weightbearing was allowed immediately postoperatively. One patient with a titanium stem was lost to followup. During the first two months, 34 of the 41 stems subsided and/or rotated towards retroversion, regardless of stem type. At the 24-month followup 35 of the 41 prostheses were either fully stabilized (16 HA and 11 Ti stems) or had clinical irrelevant migration (four HA and four Ti stems). Six Ti prostheses showed continuous migrations with maximums of 4.7 mm translation and 12.2 degrees retroversion; four of these were revised, the other two had no clinical complaints.

CLINICAL RELEVANCE

The migration pattern we found indicates insufficient primary fixation of the ProxiLock stem in an immediate full weightbearing protocol. The HA coating improves the secondary stability of the prosthesis compared to the uncoated stem. Early migration is associated with an increased risk of possible future loosening and revision, and therefore we discontinued the use of this prosthesis.

LEVEL OF EVIDENCE

Therapeutic Level I. See Guidelines for Authors for a complete description of levels of evidence.

Does bioresorbable cage material influence segment stability in spinal interbody fusion?

To reduce long term complications associated with nonresorbable interbody fusion cages, bioresorbable cages are being developed. We investigated the influence of bioresorbable cage material on segment stability, intervertebral disc height and fusion in vivo using radiostereometric analysis comparing 70/30 poly(L-lactide-co-D,L-lactide) (PLDLLA) cages with titanium cages. Twenty-eight goats were randomized to receive PLDLLA (n = 21) or a titanium control (n = 7) cage at L3-L4. Range of motion for flexion and extension and change in intervertebral disc height were measured before and after surgery and at followup (3, 6, and 12 months). Fusion was graded with a validated radiographic score. Although the PLDLLA cage could not provide the optimal environment for a successful high fusion rate, the range of motion of the PLDLLA segments gradually decreased in time and was similar to the titanium control group at 12 months. In addition the decrease of intervertebral disc height was similar for both PLDLLA (1.4 +/- 0.8 mm) and titanium (1.3 +/- 1.0 mm) specimens. Both results showed a bioresorbable cage does not lead to less decrease of motion or more loss of intervertebral disc height in time compared to titanium. This study therefore supports further development of a bioresorbable cage concept.

Periapatite may not improve micromotion of knee prostheses in rheumatoid arthritis

Prosthesis migration in bone inevitably occurs in cemented and uncemented total knee arthroplasty tibial components. Cemented designs as the gold standard give immediate fixation whereas cementless designs need a period of bone ingrowth onto the surface irregularities of the implants. The addition of bioactive coatings may enhance this process of ingrowth. A controlled randomized prospective RSA study was carried out on 26 Duracon implants in a rheumatoid arthritis patient group to evaluate the effect of a periapatite coating on the fixation of the tibial tray. The coated and the noncoated groups were matched for sex, age, body mass index, and HSS Knee Score. Stage of preoperative joint destruction and preoperative and postoperative mechanical leg axis showed no differences. We saw no differences in migration between the two groups, but a trend for lesser translations along and rotations about all three axes in the periapatite group. The periapatite-coated components showed a lower variance in subsidence than did the uncoated components. Both groups also showed a high variance in anterior tilting of the components. The cementless PA-coated Duracon prosthesis used in patients with RA may provide improved fixation of tibial components although we could not demonstrate improvement in this small controlled series.

LEVEL OF EVIDENCE

Therapeutic Level II. See the Guidelines for Authors for a complete description of levels of evidence.

A survey of formal methods for determining the centre of rotation of ball joints

The determination of an accurate centre of rotation (CoR) from segment marker positions is of interest across a wide range of applications, but particularly for clinical gait analysis and for estimating the hip joint centre during surgical intervention of the knee, for limb alignment purposes. For the first time in this survey of formal methods, we classify, analyse and compare different methods (geometric, algebraic, bias compensated algebraic, and Pratt sphere fit methods, as well as the centre transformation technique, the Holzreiter approach, the helical pivot technique, the Schwartz transformation techniques, the minimal amplitude point method and the Stoddart approach) for the determination of spherical joint centres from marker position data. In addition, we propose a new method, the symmetrical CoR estimation or SCoRE, in which the coordinates of the joint centre must only remain constant relative to each segment, thus not requiring the assumption that one segment should remain at rest. For each method, 1000 CoR estimations were analysed with the application of isotropic, independent and identically distributed Gaussian noise (standard deviation 0.1cm) to each of the marker positions, to all markers on the segment simultaneously and the two in combination. For the test conditions used here, most techniques were capable of determining the CoR to within 0.3 cm, as long as the spherical range of motion (RoM) of the joint was 45 degrees or more. Under the most stringent conditions tested, however, the SCoRE was capable of best determining the CoR, to within approximately 1.2mm with a RoM of 20 degrees . The correct selection and application of these methodologies should help improve the accuracy of surgical navigation and clinical kinematic measurement.

Evaluation of three pose estimation algorithms for model-based Roentgen stereophotogrammetric analysis

Model-based roentgen stereophotogrammetric analysis (RSA) uses a three-dimensional surface model of an implant in order to estimate accurately the pose of that implant from a stereo pair of roentgen images. The technique is based on minimization of the difference between the actually projected contour of an implant and the virtually projected contour of a model of that same implant. The advantage of model-based RSA over conventional marker-based RSA is that it is not necessary to attach markers to the implant. In this paper, three pose estimation algorithms for model-based RSA are evaluated. The algorithms were assessed on the basis of their sensitivities to noise in the actual contour, to the amount of drop-outs in the actual contour, to the number of points in the actual contour and to shrinkage or expansion of the actual contour. The algorithms that were studied are the iterative inverse perspective matching (IIPM) algorithm, an algorithm based on minimization of the difference (DIF) between the actual contour and the virtual contour, and an algorithm based on minimization of the non-overlapping area (NOA) between the actual and virtual contour. The results of the simulation and phantom experiments show that the NOA algorithm does not fulfil the high accuracy that is necessary for model-based RSA. The IIPM and DIF algorithms are robust to the different distortions, making model-based RSA a possible replacement for marker-based RSA.

Evaluation of an electromagnetic position tracking device for measuring in vivo, dynamic joint kinematics

An electromagnetic position tracking device was evaluated to determine its static and dynamic accuracy and reliability for applications related to measuring in vivo joint kinematics. The device detected the position and orientation of small coiled sensors, maintained in an electromagnetic field. System output was measured against known translations or rotations throughout the measurement volume. Average translational errors during static testing were 0.1 +/- 0.04, 0.2 +/- 0.17, and 0.8 +/- 0.81 mm (mean+/-SD) for sensors 50, 300, and 550 mm away from the field generator, respectively. Average rotational errors were 0.4 +/- 0.31 degrees, 0.4 +/- 0.21 degrees, and 0.9 +/- 0.85 degrees (mean +/- SD) for sensors located at the same distances. Since we intended to use this system in an animal walking on a treadmill, we incrementally moved the sensors under various treadmill conditions. The effects of treadmill operation on translational accuracy were found to be negligible. The effects of dynamic motions on sensor-to-sensor distance were also assessed for future data collection in the animal. Sensor-to-sensor distance showed standard deviations of 2.6 mm and a range of 13 mm for the highest frequency tested (0.23 Hz). We conclude that this system is useful for static or slow dynamic motions, but is of limited use for obtaining gait kinematics at higher speeds.

Guidelines for standardization of radiostereometry (RSA) of implants

There is a need for standardization of radiostereometric (RSA) investigations to facilitate comparison of outcome reported from different research groups. In this document, 6 research centers have agreed upon standards for terminology, description and use of RSA arrangement including radiographic set-up and techniques. Consensus regarding minimum requirements for marker stability and scatter, choice of coordinate systems, and preferred way of describing prosthetic micromotion is of special interest. Some notes on data interpretation are also presented. Validation of RSA should be standardized by preparation of protocols for assessment of accuracy and precision. Practical issues related to loading of the joint by weight bearing or other conditions, follow-up intervals, length of follow-up, radiation dose, and the exclusion of patients due to technical errors are considered. Finally, we present a checklist of standardized output that should be included in any clinical RSA paper.This document will form the basis of a detailed standardization protocol under supervision of ISO and the European Standards Working Group on Joint Replacement Implants (CEN/TC 285/WG4). This protocol will facilitate inclusion of RSA in a standard protocol for implant testing before it is released for general use. Such a protocol-also including other recognized clinical outcome parameters-will reduce the risk of implanting potentially inferior prostheses on a large scale.

Correction of XRII geometric distortion using a liquid-filled grid and image subtraction

X-ray image intensifier (XRII) geometric distortion reduces the accuracy of image-guided procedures and quantitative image reconstructions. Due to the dependence of this error on the earth's magnetic field, the required correction is angle dependent, and calibration data should ideally be acquired simultaneously with clinical image data, at a specific orientation. We describe a technique to correct XRII geometric image distortion at any angular position during a stereotactic procedure. This approach uses a machined plastic grid, which contains channels that can be filled with iodinated contrast agent and subsequently flushed with water, providing contrast and mask images, respectively, of a geometric calibration grid. The standard image subtraction capabilities of conventional digital subtraction angiography devices can then be used to create a subtraction image of the iodine-filled channels, without any confounding anatomical structure. Grid-line intersection points are used to determine the control points that are required for a global polynomial correction algorithm, creating a correction map that is specific to the current angular position and XRII field of view (FOV). Tests with a clinical C-arm based XRII show that control points can be obtained with a precision of +/-0.053 mm, resulting in geometric correction accuracy of +/-0.152 mm, at a nominal FOV of 40 cm. While the precision and accuracy are both poorer than that achieved with a high-contrast steel-bead grid, the fact that the liquid grid can remain rigidly attached to the XRII during an entire procedure results in the establishment of an absolute detector coordinate system (referenced to the liquid-filled correction grid). The design of the liquid-filled channels allows the required control points to be introduced into the image or removed in about 30 s, avoiding the appearance of obscuring or confounding markers during clinical image acquisition, with a concurrent increase in patient dose of about 8% in the current design. Applications for this technique include stereotactic surgery, radiosurgery, x-ray stereogrammetry, and other image-guided procedures.

Influence of cement viscosity and cement mantle thickness on migration of the Exeter total hip prosthesis

The effect of bone cement viscosity and cement mantle thickness on the migration of the Exeter total hip prosthesis was studied in a prospective, randomized, double-blind clinical Roentgen Stereophotogrammetric Analysis study. Forty-one cemented total hip arthroplasty in 39 patients were included and randomized into a low/medium Simplex P cement group and a high-viscosity Simplex AF cement group. At time of stem introduction, 5 minutes after mixing, the Simplex AF was more viscous than Simplex P. No statistical difference existed between the 2 cement groups, for neither translation nor rotation migration data. Subsidence of the stem at 2-year follow-up was 1.1 +/- 0.56 mm for Simplex AF cement and 1.5 +/- 1.00 mm for Simplex P cement. The mean rotation of the acetabular components about the sagittal axis was 1.7 degrees +/- 3.8 degrees in the Simplex AF group and 0.7 degrees +/- 2.1 degrees for the Simplex P group. No effect of cement mantle thickness on migration of neither the acetabular cups nor the femoral stems was found. Although there were no differences in migration data for the cups and the stems, 2 acetabular cups in the Simplex AF group (almost 10%) were revised because of mechanical loosening. Because of these findings, we suggest caution before using this new high-viscosity bone cement for fixation of acetabular components.