Computer assisted spine surgery

Robotic hand surgery: current insights and future directions

Robotic surgery is a rapidly evolving field that will potentially play a pivotal role in future patient care. There are specific challenges that needs circumventing for each surgical specialty. This article discusses the current robotic surgical systems that have been developed or are currently in development for its application in hand surgery, which has its own unique complexity of comprising both bony and soft tissue procedures. Although robotics has been applied to a wide range of surgical specialties, its precise role in hand surgery remains a subject of further research. We delve into how this new technology is changing the landscape of the management of hand conditions, in both bony and microsurgical procedures, and future directions of this evolving field.

Does robotic arm-assisted total knee arthroplasty have a role to play in large deformities?

BACKGROUND

Total knee arthroplasty (TKA) for patients with a large preoperative deformity (more than 10° varus or valgus) remains a challenge leading to a high rate of outliers, unsatisfactory functional results, or early prosthetic loosening. Robotic arm-assisted TKA (RATKA) has shown improvements in implant positioning accuracy. This study aimed to assess RATKA implant positioning accuracy and functional results at one year postoperative for patients with a large preoperative deformity.

METHODS

From November 2019 to July 2022, 500 RATKA were performed. About 74 patients with more than 10° of varus or valgus global deformity were included. Each patient received a semi-constrained implant. The difference between the valgus or varus value planned intra-operatively and the varus or valgus measured on one-year postoperative X-rays has been assessed. Functional outcomes (VAS, range of motion, KOOS) have also been evaluated.

RESULTS

For varus, the mean difference was 0.54 ± 1.21°, all patients (100%) had a difference of less than 3° at one-year post-operative. For valgus, the mean difference was 0.63 ± 1.29°, most patients (92%) had a difference of less than 3° at one year postoperative. Overall, 98.6% (n = 73) of cases had a difference of less than 3° at one-year postoperative. The mean VAS was 1.6 ± 1.4 [1;4]. Mean flexion was 132 ± 7.6° [100;145]. A total of 69 patients (93%) had a good or excellent KOOS score (KOOS total > 70) at one year post-operative.

CONCLUSION

For large preoperative deformities, RATKA provides a high degree of accuracy in implant positioning, permitting it to fit the desired alignment without compromising knee stability, and giving the possibility of using semi-constrained implants. At one year postoperative, functional results are encouraging and most patients have recovered an optimal range of motions.

Design of Proposed Software System for Prediction of Iliosacral Screw Placement for Iliosacral Joint Injuries Based on X-ray and CT Images

One of the crucial tasks for the planning of surgery of the iliosacral joint is placing an iliosacral screw with the goal of fixing broken parts of the pelvis. Tracking of proper screw trajectory is usually done in the preoperative phase by the acquisition of X-ray images under different angles, which guide the surgeons to perform surgery. This approach is standardly complicated due to the investigation of 2D X-ray images not showing spatial perspective. Therefore, in this pilot study, we propose complex software tools which are aimed at making a simulation model of reconstructed CT (DDR) images with a virtual iliosacral screw to guide the surgery process. This pilot study presents the testing for two clinical cases to reveal the initial performance and usability of this software in clinical conditions. This model is consequently used for a multiregional registration with reference intraoperative X-ray images to select the slide from the 3D dataset which best fits with reference X-ray. The proposed software solution utilizes input CT slices of the pelvis area to create a segmentation model of individual bone components. Consequently, a model of an iliosacral screw is inserted into this model. In the next step, we propose the software CT2DDR which makes DDR projections with the iliosacral screw. In the last step, we propose a multimodal registration procedure, which performs registration of a selected number of slices with reference X-ray, and based on the Structural Similarity Index (SSIM) and index of correlation, the procedure finds the best match of DDR with X-ray images. In this pilot study, we also provide a comparative analysis of the computational costs of the multimodal registration upon various numbers of DDR slices to show the complex software performance. The proposed complex model has versatile usage for modeling and surgery planning of the pelvis area in fractures of iliosacral joints.

The state-of-the-art in ultrasound-guided spine interventions

During the last two decades, intra-operative ultrasound (iUS) imaging has been employed for various surgical procedures of the spine, including spinal fusion and needle injections. Accurate and efficient registration of pre-operative computed tomography or magnetic resonance images with iUS images are key elements in the success of iUS-based spine navigation. While widely investigated in research, iUS-based spine navigation has not yet been established in the clinic. This is due to several factors including the lack of a standard methodology for the assessment of accuracy, robustness, reliability, and usability of the registration method. To address these issues, we present a systematic review of the state-of-the-art techniques for iUS-guided registration in spinal image-guided surgery (IGS). The review follows a new taxonomy based on the four steps involved in the surgical workflow that include pre-processing, registration initialization, estimation of the required patient to image transformation, and a visualization process. We provide a detailed analysis of the measurements in terms of accuracy, robustness, reliability, and usability that need to be met during the evaluation of a spinal IGS framework. Although this review is focused on spinal navigation, we expect similar evaluation criteria to be relevant for other IGS applications.

O-arm navigation versus C-arm guidance for pedicle screw placement in spine surgery: a systematic review and meta-analysis

BACKGROUND

O-arm and C-arm are commonly used in spine surgery to guide pedicle screw placement. However, concerning the accuracy and efficiency of them, no systematical review and meta-analyses are available to help surgeons make comparisons.

PURPOSES

This study aims to investigate the accuracy and efficiency of O-arm-navigated versus C-arm-guided pedicle screw placement in thoracic and lumbar spine surgery. It would help surgeons choose the optimal technique for pedicle screw placement.

PATIENTS AND METHODS

A systematic review and meta-analyses were performed after searching the PubMed, Embase, and Cochrane databases to identify all studies that assessed the accuracy and efficiency of navigation coupled with O-arm and conventional C-arm fluoroscopy.

RESULTS

Eight studies were finally recruited in this systematic review, all of which reported pedicle screw placement outcomes related to accuracy or efficiency in both C-arm and O-arm groups. Five studies showed higher screw insertion accuracy in the O-arm group, while one study showed no significant difference. And the pooled results also indicated that the incidence of screw misplacement in the C-arm groups is higher. Moreover, the pooled results from five studies indicated no significant difference in insertion time between C-arm and O-arm.

CONCLUSIONS

Navigation coupled with O-arm imaging displayed a lower efficiency outcome in pedicle screw placement compared to conventional C-arm fluoroscopy. However, in terms of accuracy, O-arm navigation had significant advantages in accuracy over conventional C-arm fluoroscopy.

Role of 3D intraoperative imaging in orthopedic and trauma surgery

Intraoperative three-dimensional (3D) imaging is now feasible because of recent technological advances such as 3D cone-beam CT (CBCT) and flat-panel X-ray detectors (FPDs). These technologies reduce the radiation dose to the patient and surgical team. The aim of this study is to review the advantages of 3D intraoperative imaging in orthopedic and trauma surgery by answering the following 5 questions: What are its technical principles? CBCT with a FPD produces non-distorted digital images and frees up the surgical field. The high quality of these 3D intraoperative images allows them to be integrated into surgical navigation systems. Human-robot comanipulation will likely follow soon after. Conventional multislice CT technology has also improved to the point where it can be used in the operating room. What can we expect from 3D intraoperative imaging and which applications have been validated clinically? We reviewed the literature on this topic for the past 10 years. The expected benefits were determined during the implantation of pedicular screws: more accurate implantation, fewer surgical revisions and time savings. There are few studies in trauma or arthroplasty cases, as robotic comanipulation is a more recent development. What is the tolerance for irradiation to the patient and surgical team? The health drawbacks are the harmful radiation-induced effects. The deterministic effects that we will develop are correlated to the absorbed dose in Gray units (Gy). The stochastic and carcinogenic effects are related to the effective dose in milliSievert (mSv) of linear evolution without threshold. The International Commission on Radiological Protection (ICRP) states that irradiation for medical purposes with risk of detriment is acceptable if it is justified by an optimization attempt. The radioprotection limits must be known but do not constitute opposable restrictions. The superiority of intraoperative 3D imaging over fluoroscopy has been demonstrated for spine surgery and sacroiliac screw fixation. How does the environment need to be adapted? The volume, access, wall protection and floor strength of the operating room must take into account the features of each machine. The instrumentation implants and need for specialized staff result in additional costs. Not every system can track movements during the CBCT acquisition thus transient suspension of assisted ventilation may be required. Is it financially viable? This needs to be calculated based on the expected clinical benefits, which mainly correspond to the elimination of expenses tied to surgical revisions. Our society's search for safety has driven the investments in this technology. LEVEL OF EVIDENCE: V, Expert opinion.

A medium invasiveness multi-level patient's specific template for pedicle screw placement in the scoliosis surgery

BACKGROUND

Several methods including free-hand technique, fluoroscopic guidance, image-guided navigation, computer-assisted surgery system, robotic platform and patient's specific templates are being used for pedicle screw placement. These methods have screw misplacements and are not always easy to be applied. Furthermore, it is necessary to expose completely a large portions of the spine in order to access fit entirely around the vertebrae.

METHODS

In this study, a multi-level patient's specific template with medium invasiveness was proposed for pedicle screw placement in the scoliosis surgery. It helps to solve the problems related to the soft tissues removal. After a computer tomography (CT) scan of the spine, the templates were designed based on surgical considerations. Each template was manufactured using three-dimensional printing technology under a semi-flexible post processing. The templates were placed on vertebras at four points-at the base of the superior-inferior articular processes on both left-right sides. This helps to obtain less invasive and more accurate procedure as well as true-stable and easy placement in a unique position. The accuracy of screw positions was confirmed by CT scan after screw placement.

RESULTS

The result showed the correct alignment in pedicle screw placement. In addition, the template has been initially tested on a metal wire series Moulage (height 70 cm and material is PVC). The results demonstrated that it could be possible to implement it on a real patient.

CONCLUSIONS

The proposed template significantly reduced screw misplacements, increased stability, and decreased the sliding & the intervention invasiveness.

Computer-assisted Orthopaedic Surgery

Nowadays, operating rooms can be inefficient and overcrowded. Patient data and images are at times not well integrated and displayed in a timely fashion. This lack of coordination may cause further reductions in efficiency, jeopardize patient safety, and increase costs. Fortunately, technology has much to offer the surgical disciplines and the ongoing and recent operating room innovations have advanced preoperative planning and surgical procedures by providing visual, navigational, and mechanical computerized assistance. The field of computer-assisted surgery (CAS) broadly refers to surgical interface between surgeons and machines. It is also part of the ongoing initiatives to move away from invasive to less invasive or even noninvasive procedures. CAS can be applied preoperatively, intraoperatively, and/or postoperatively to improve the outcome of orthopaedic surgical procedures as it has the potential for greater precision, control, and flexibility in carrying out surgical tasks, and enables much better visualization of the operating field than conventional methods have afforded. CAS is an active research discipline, which brings together orthopaedic practitioners with traditional technical disciplines such as engineering, computer science, and robotics. However, to achieve the best outcomes, teamwork, open communication, and willingness to adapt and adopt new skills and processes are critical. Because of the relatively short time period over which CAS has developed, long-term follow-up studies have not yet been possible. Consequently, this review aims to outline current CAS applications, limitations, and promising future developments that will continue to impact the operating room (OR) environment and the OR in the future, particularly within orthopedic and spine surgery.

Transsacral transdiscal L5-S1 screws for the management of high-grade spondylolisthesis in an adolescent

The surgical management of high-grade spondylolisthesis in adolescents remains a controversial issue. Because the basic procedure, posterolateral fusion, is associated with a significant rate of pseudarthrosis and listhesis progression, there is a pressing need for alternative surgical techniques. In the present report, the authors describe the case of an adolescent patient with significant low-back pain who was found to have Grade IV spondylolisthesis at L5-S1 that was treated with transsacral transdiscal screw fixation. Bilateral pedicle screws were placed starting from the top of the S-1 pedicle, across the L5-S1 intervertebral disc space, and into the L-5 body. At 14 months after surgery, the patient had considerable improvement in his pain and radiographic fusion across L5-S1. The authors conclude that transsacral transdiscal pedicle screws may serve as an efficacious and safe option for the correction of high-grade spondylolisthesis in adolescent patients.

Navigated pedicle screw placement using computed tomographic data in dorsolumbar fractures

BACKGROUND

Computed tomographic (CT) based navigation is a technique to improve the accuracy of pedicle screw placement. It is believed to enhance accuracy of pedicle screw placement, potentially avoiding complications arising due to pedicle wall breach. This study aims to assess the results of dorsolumbar fractures operated by this technique.

MATERIALS AND METHODS

Thirty consecutive skeletally mature patients of fractures of dorsolumbar spine (T9-L5) were subjected to an optoelectronic navigation system. All patients were thoroughly examined for neurological deficit. The criterion for instability were either a tricolumnar injury or presence of neurological deficit or both. Patients with multilevel fractures and distorted spine were excluded from study. Time taken for insertion of each pedicle screw was recorded and placement assessed with a postoperative CT scan using Laine's grading system.

RESULTS

Only one screw out of a total of 118 screws was misplaced with a Laine's Grade 5 placement, showing a misplacement rate of 0.847%. Average time for matching was 7.8 min (range 5-12 min). Average time taken for insertion of a single screw was 4.19 min (range 2-8 min) and total time for all screws after exposure was 34.23 min (range 24-45 min) for a four screw construct. No neurovascular complications were seen in any of the patients postoperatively and in subsequent followup of 1-year duration.

CONCLUSION

CT-based navigation is effective in improving accuracy of pedicle screw placement in traumatic injuries of dorsolumbar spine (T9-L5), however additional cost of procuring CT scan to the patient and cost of equipment is of significant concern in developing countries. Reduced radiation exposure and lowered ergonomic constraints around the operation table are its additional benefits.

An Ultrasound Technique of Bone Thickness Estimation for Pedicle Screw Insertion

Information on bone thickness is useful to surgeons in fixing pedicle screws in place. The quality of pedicle screw insertion continues to increase with the introduction of such techniques as navigation based on computed tomography and fluoroscopy. These techniques reduce error in pedicle screw placement and injury. However, the information reported on the real time measurement of depths drilled through cancellous bone, also known as trabecular bone or sponge bone, by the pedicle screw is minimal. It currently depends on palpation by the physician for judging the boundary between cortical and cancellous bone – an inaccurate technique that may produce errors in screw placement and the risk of injury during surgical processes. Ultrasound is used to help overcome such problems. Bone thickness is estimated in this study using an ultrasound transducer attached to 20 mm of polymethyl methacrylate, a clear glass-like acrylic. The bone thickness of five specimens was measured using ultrasound echo signals. Error in estimating bone thickness was small, 8.121%, showing the accuracy in bone thickness to be more than 90.00% which is suitable for use in estimating bone thickness in pedicle screw insertion.

A new technique of bone thickness measurement for pedicle screw insertion safety purpose

Pedicle Screw (PS) was originally accomplished for Spinal fixation but it has several limitations. If the pedicle screw passes though the cortex bone in surgery, it has a risk to damage the spinal cord and vertebral artery, which can be caused to a serious problem such as paralysis. Therefore, it should be avoided by all possible means. In current situation, it depends on a palpation of doctor to judge the boundary between the cortex and cancellous bone. Although many instrumentation has been described in several clinical studies, there are still lack of data in the literature concerning the measurement of bone thickness in real time mode. Most of the measurements of the bone thicknesses were based on CT Scan machine which is off-line technique. Therefore, the purpose of this prospective study was to develop a real time measurement of bone thickness for safety purpose of pedicle screw insertion. A total of 12 data was collected in each experiment. Ultrasound echo signal for each specimen was measured and used to measured bone thickness. Then, the results were compared with manual measurement of bone thickness which is by using a ruler. The percentage different of bone thickness was small for both methods which were 8.86% for first method and 15.1% for second method. This measurement values showed that the accuracy of bone thickness more than 84% for both method. As a conclusion, both methods were suitable to use as a bone thickness measurement technique for pedicle screw insertion application.

Medical Robotics

Medical robotics is an interdisciplinary field that focuses on developing electromechanical devices for clinical applications. The goal of this field is to enable new medical techniques by providing new capabilities to the physician or by providing assistance during surgical procedures. Medical robotics is a relatively young field, as the first recorded medical application occurred in 1985 for a brain biopsy. It has tremendous potential for improving the precision and capabilities of physicians when performing surgical procedures, and it is believed that the field will continue to grow as improved systems become available. This chapter offers a comprehensive overview about medical robotics field and its applications. It begins with an introduction to robotics, followed by a historical review of their use in medicine. Clinical applications in several different medical specialties are discusssed. The chapter concludes with a discussion of technology challenges and areas for future research.

Medical Robotics

Medical robotics is an interdisciplinary field that focuses on developing electromechanical devices for clinical applications. The goal of this field is to enable new medical techniques by providing new capabilities to the physician or by providing assistance during surgical procedures. Medical robotics is a relatively young field, as the first recorded medical application occurred in 1985 for a brain biopsy. It has tremendous potential for improving the precision and capabilities of physicians when performing surgical procedures, and it is believed that the field will continue to grow as improved systems become available. This chapter offers a comprehensive overview about medical robotics field and its applications. It begins with an introduction to robotics, followed by a historical review of their use in medicine. Clinical applications in several different medical specialties are discusssed. The chapter concludes with a discussion of technology challenges and areas for future research.

An optimal design for patient-specific templates for pedicle spine screws placement

BACKGROUND

Currently, pedicle screws are positioned using a free-hand technique or under fluoroscopic guidance, with error in the range 10-40%, depending on the skill of the surgeon.

METHODS

After spine CT acquisition, each vertebra is segmented and the surgeon plans screw positioning in a virtual environment, then the template is designed around the chosen trajectories. This design is based on surgical and mechanical considerations to obtain an optimal solution to guarantee template stability, simple positioning and minimized intervention invasiveness. In vitro evaluation on synthetic spine models and ex vivo animal tests on porcine specimens were performed, with the insertion of 28 Kirschner wires.

RESULTS

During the in vitro tests, all the surgeons rendered positive evaluations regarding the device and considered template placement to be easy. Ex vivo tests were evaluated by CT examination, which showed that 96.5% of the Kirschner wires had been correctly inserted.

CONCLUSIONS

The proposed solution is a promising, simple, highly precise, low-cost solution to safely performing posterior stabilization. Such a solution would be of interest even in hospitals in which a few spine interventions are performed per year, and for which it is not reasonable to purchase the equipment required for robotic or navigated approaches.

Estudo de acurácia em cirurgia assistida por navegação na revisão cirúrgica de deformidade vertebral

OBJETIVO: Avaliar as vantagens da cirurgia com navegação na revisão cirúrgica de deformidades vertebrais, verificando a acurácia deste método. MÉTODO: Foram revisados cincos pacientes com deformidades vertebrais que tiveram intercorrências na primeira cirurgia. Esses pacientes foram submetidos a um estudo de tomografia computadorizada (TC) com cortes de 2mm da coluna vertebral antes da segunda cirurgia. Nos cinco pacientes submetidos a reabordagem cirúrgica procedeu-se a instrumentação posterior com auxílio da navegação. Foram 84 parafusos pediculares implantados, sendo que 33 destes parafusos foram assistidos por computação. A navegação foi empregada nos níveis da deformidade vertebral onde a anatomia apresentava-se alterada inviabilizando o correto uso dos parâmetros anatômicos para inserção de parafusos pediculares. Nos demais níveis onde era possível a correta identificação desses parâmetros anatômicos foi utilizada a técnica padrão. A TC pós-operatória foi realizada para aferição do posicionamento dos parafusos pediculares. Avaliamos os resultados obtidos no posicionamento com e sem o uso da navegação. O tempo de fluoroscopia e o tempo da cirurgia também foram comparados com o padrão ouro da literatura. RESULTADOS: Dos 33 parafusos implantados com navegação observou-se uma acurácia de 94%, com uma taxa de violação pedicular de 6%. CONCLUSÕES: O uso da navegação é importante nas revisões cirúrgicas das deformidades vertebrais com anatomia alterada, influenciando no bom resultado final da cirurgia.

The future of robotics in hand surgery

Robotics has spread over many surgical fields over the last decade: orthopaedic, cardiovascular, urologic, gynaecologic surgery and various other types of surgery. There are five different types of robots: passive, semiactive and active robots, telemanipulators and simulators. Hand surgery is at a crossroad between orthopaedic surgery, plastic surgery and microsurgery; it has to deal with fixing all sorts of tissues from bone to soft tissues. To our knowledge, there is not any paper focusing on potential clinical applications in this realm, even though robotics could be helpful for hand surgery. One must point out the numerous works on bone tissue with regard to passive robots (such as fluoroscopic navigation as an ancillary for percutaneous screwing in the scaphoid bone). Telemanipulators, especially in microsurgery, can improve surgical motion by suppressing physiological tremor thanks to movement demultiplication (experimental vascular and nervous sutures previously published). To date, the robotic technology has not yet become simple-to-use, cheap and flawless but in the future, it will probably be of great technical help, and even allow remote-controlled surgery overseas.

Kirschner wire placement in scaphoid bones using fluoroscopic navigation: a cadaver study comparing conventional techniques with navigation

BACKGROUND

During scaphoid fixation, a pin guide is first inserted along the axis of the scaphoid, and then a cannulated screw is inserted around the pin guide. At least, the pinguide is removed. To verify the position of the pin guide, fluoroscopy is typically used, with the disadvantage of irradiation. Thus, it is impossible to visualize the pin guide in more than one view simultaneously. The goal of this study was to compare two pin guide placement techniques in scaphoid fixation: conventional (CF) vs. fluoroscopic navigation (FN).

METHODS

Eleven upper limbs of cadavers were divided into two groups. The CF group included four scaphoids which were to be fixed with pin guide. The FN group included seven scaphoids which were to be fixed with the same technique under FN.

RESULTS

The accuracy of screw insertion in both groups does not differ. In the CF group, the X-ray exposure time is four times higher. The total duration of the surgical procedure is slightly higher in the FN group.

CONCLUSIONS

We are of the opinion that FN could be applied in clinical practice and could offer significant benefits in the treatment of fixation of the scaphoid.

Computer-assisted surgical planning and image-guided surgical navigation in refractory adult scoliosis surgery: case report and review of the literature

STUDY DESIGN

Case report and literature review.

OBJECTIVE

In this case report, we present the utility of computer-assisted surgical planning and image-guided surgical navigation in the planning and execution of a major osteotomy to correct severe kyphoscoliosis.

SUMMARY OF BACKGROUND DATA

Computer-assisted surgical planning is useful to appreciate the three-dimensional nature of scoliotic deformities and allows for operative maneuvers to be simulated on a computer before their implementation in the operating room. Image-guided surgical navigation improves surgical accuracy and can help translate a virtual surgical plan to the operative setting.

METHODS

We report the case of a 38-year-old woman with severe, congenital kyphoscoliosis refractory to many previous surgeries, who presents with moderate progressive myelopathy and severe pain attributable to a sharp angular deformity at T12. Three-dimensional computed tomography reconstruction and computer-assisted surgical planning were used to determine the optimal corrective osteotomy. The surgical plan was translated to the operating room where a posterior vertebrectomy and instrumented correction were executed with the aid of image-guided surgical navigation.

RESULTS

The osteotomy was safely performed resulting in improved sagittal and coronal alignments, as well as, correction of the sharp kyphoscoliotic deformity at the thoracolumbar junction. At 6-month follow-up, the patient's myelopathy and pain had largely resolved and she expressed high satisfaction with the procedure.

CONCLUSION

We advocate this novel application of virtual surgical planning and intraoperative surgical navigation to improve the safety and efficacy of complex spinal deformity corrections.

New visualization tools: computer vision and ultrasound for MIS navigation

BACKGROUND

A versatile image acquisition method called echo surgetics has been developed for minimally invasive computer-assisted orthopaedic procedures. The principle of echo surgetics is to use freehand three-dimensional (3D) ultrasound to acquire relevant 3D bone surface and point data transcutaneously, eliminating access problems associated with conventional digitizers. The concept has been implemented in three technologies: Echo Point, Echo Matching and Echo Morphing.

METHODS

Cadaver experiments were carried out to evaluate the accuracy of (a) Echo Point for digitization of the anterior pelvic plane (APP) in total hip arthroplasty, and (b) Echo Morphing for reconstructing the distal femur in minimally invasive knee surgery.

RESULTS AND CONCLUSIONS

Echo Point provided significantly improved results (p < 0.001) over conventional digitization where mean tilt errors exceeded 20 degrees . The Echo Morphing experiments demonstrated that with a reasonable number of points (ca. 1000) and initial attitude (IA) error (ca. 5-10 mm and 5-10 degrees ) we can obtain an average accuracy of approximately 1 mm that is sufficient for most of clinical applications.

Simulations of the consequences of tongue surgery on tongue mobility: implications for speech production in post-surgery conditions

BACKGROUND

We studied the ability of a three-dimensional (3D) biomechanical model of the oral cavity to predict the consequences of tongue surgery on tongue movements, according to the size and location of the tissue loss and the nature of the flap used by the surgeon.

METHOD

The core of our model consists of a 3D biomechanical model representing the tongue as a finite element structure with hexahedral elements and hyperelastic properties, in which muscles are represented by specific subsets of elements. This model is inserted in the oral cavity including jaw, palate and pharyngeal walls. Hemiglossectomy and large resection of the mouth floor are simulated by removing the elements corresponding to the tissue losses. Three kinds of reconstruction are modelled, assuming flaps with low, medium or high stiffness.

RESULTS

The consequences of these different surgical treatments during the activation of some of the main tongue muscles are shown. Differences in global 3D tongue shape and in velocity patterns are evaluated and interpreted in terms of their potential impact on speech articulation. These simulations have been shown to be efficient in accounting for some of the clinically observed consequences of tongue surgery.

CONCLUSION

Further improvements still need to be done before being able to generate patient-specific models easily and to decrease the computation time significantly. However, this approach should represent a significant improvement in planning tongue surgery systems and should be a very useful means of improving the understanding of muscle behaviour after partial resection.

Fluoroscopy-based navigation system in spine surgery

The variability in width, height, and spatial orientation of a spinal pedicle makes pedicle screw insertion a delicate operation. The aim of the current paper is to describe a computer-assisted surgical navigation system based on fluoroscopic X-ray image calibration and three-dimensional optical localizers in order to reduce radiation exposure while increasing accuracy and reliability of the surgical procedure for pedicle screw insertion. Instrumentation using transpedicular screw fixation was performed: in a first group, a conventional surgical procedure was carried out with 26 patients (138 screws); in a second group, a navigated surgical procedure (virtual fluoroscopy) was performed with 26 patients (140 screws). Evaluation of screw placement in every case was done by using plain X-rays and post-operative computer tomography scan. A 5 per cent cortex penetration (7 of 140 pedicle screws) occurred for the computer-assisted group. A 13 per cent penetration (18 of 138 pedicle screws) occurred for the non computer-assisted group. The radiation running time for each vertebra level (two screws) reached 3.5s on average in the computer-assisted group and 11.5s on average in the non computer-assisted group. The operative time for two screws on the same vertebra level reaches 10 min on average in the non computer-assisted group and 11.9 min on average in the computer-assisted group. The fluoroscopy-based (two-dimensional) navigation system for pedicle screw insertion is a safe and reliable procedure for surgery in the lower thoracic and lumbar spine.

Bone-mounted miniature robotic guidance for pedicle screw and translaminar facet screw placement: part 2--Evaluation of system accuracy

OBJECTIVE

To evaluate the accuracy of a novel bone-mounted miniature robotic system for percutaneous placement of pedicle and translaminar facet screws.

METHODS

Thirty-five spinal levels in 10 cadavers were instrumented. Each cadaver's entire torso was scanned before the procedure. Surgeons planned optimal entry points and trajectories for screws on reconstructed three-dimensional virtual x-rays of each vertebra. Either a clamp or a minimally invasive external frame was attached to the bony anatomy. Anteroposterior and lateral fluoroscopic images using targeting devices were obtained and automatically registered with the virtual x-rays of each vertebra generated from the computed tomographic scan obtained before the procedure. A miniature robot was mounted onto the clamp and external frame and the system controlled the robot's motions to align the cannulated drill guide along the planned trajectory. A drill bit was introduced through the cannulated guide and a hole was drilled through the cortex. Then, K-wires were introduced and advanced through the same cannulated guide and left inside the cadaver. The cadavers were scanned with computed tomography after the procedure and the system's accuracy was evaluated in three planes, comparing K-wire positions with the preoperative plan. A total of fifty-five procedures were evaluated.

RESULTS

Twenty-nine of 32 K-wires and all four screws were placed with less than 1.5 mm of deviation; average deviation was 0.87 +/- 0.63 mm (range, 0-1.7 mm) from the preoperative plan in this group. Sixteen of 19 K-wires were placed with less than 1.5 mm of deviation. There was one broken and one bent K-wire. Another K-wire was misplaced because of collision with the previously placed wire on the contralateral side of the same vertebra because of a mistake in planning, resulting in a 6.5-mm deviation. When this case was excluded, average deviation was 0.82 +/- 0.65 mm (range, 0-1.5 mm).

CONCLUSION

These results verify the system's accuracy and support its use for minimally invasive spine surgery in selected patients.

Assessment of CAOS as a training model in spinal surgery: a randomised study

The objectives of this study were (1) to quantify the benefit of computer assisted orthopaedic surgery (CAOS) pedicle screw insertion in a porcine cadaver model evaluated by dissection and computed tomography (CT); (2) to compare the effect on performance of four surgeons with no experience of CAOS, and varying experience of pedicle screw insertion; (3) to see if CT with extended windows was an acceptable method to evaluate the position of the pedicle screws in the porcine cadaver model, compared to dissection. This was a prospective, randomised, controlled and blinded porcine cadaver study. Twelve 6-month-old porcine (white skinned Landrace) lumbar spines were scanned pre-operatively by spiral CT, as required for the CAOS computer data set. Computer randomisation allocated the specimens to one of four surgeons, all new to CAOS but with different levels of experience in spinal surgery. The usual anatomical landmarks for the freehand technique were known to all four surgeons. Two pedicles at each vertebral level were randomly allocated between conventional free hand insertion and an electromagnetic image guided surgery (NAVITRAK) and 6.5 mm cancellous AO screws inserted. Post-operatively, spiral CT was blindly evaluated by an independent radiologist and the spine fellow to assess the accuracy of pedicle screw placement, by each method. The inter- and intra-observer reliability of CT was evaluated compared to dissection. The pedicle screw placement was assessed as perfect if within the pedicle along its central axis, or acceptable (within < 2 mm from perfect), and measured in millimetres from perfect thereafter. One hundred and sixty-six of 168 pedicles in 12 porcine spines were operated on. Complete data were present for 163 pedicles (81 CAOS, 82 freehand). In the CAOS group 84% of screws were deemed acceptable or perfect, compared to 75.6% with the freehand technique. Screw misplacement was significantly reduced using CAOS (P = 0.049). Seventy-nine percent of CAOS screws were ideally placed compared with 64% with a conventional freehand technique (P = 0.05). A logistic linear regression model showed that the miss placed pedicle screw rate was significantly reduced using CAOS (P = 0.047). CAOS benefited the least experienced surgeons most (the research registrars acceptable rate increased from 70 to 90% and the spine fellow from 76 to 86%). CAOS did not have a statistically significant effect on the experienced consultant spine surgeon increasing from 70 to 79% (P = 0.39). The experienced general orthopaedic surgeon did not benefit from CAOS (P = 0.5). CT compared to dissection showed an intra-observer reliability of 99.4% and inter-observer reliability of 92.6%. The conclusions of this study were as follows: (1) an increased number of pedicle screws were ideally placed using the CAOS electromagnetic guidance system compared to the conventional freehand technique; (2) junior surgeons benefited most from CAOS; (3) we believe CAOS (Navitrak) with porcine lumbar spines evaluated by post operative CT, represents a useful model for training junior surgeons in pedicle screw placement; (4) experienced spine surgeons, who have never used CAOS, may find CAOS less helpful than previously reported.

[The history and development of computer assisted orthopaedic surgery]

Computer assisted orthopaedic surgery (CAOS) was developed to improve the accuracy of surgical procedures. It has improved dramatically over the last years, being transformed from an experimental, laboratory procedure into a routine procedure theoretically available to every orthopaedic surgeon. The first field of application of computer assistance was neurosurgery. After the application of computer guided spinal surgery, the navigation of total hip and knee joints became available. Currently, several applications for computer assisted surgery are available. At the beginning of navigation, a preoperative CT-scan or several fluoroscopic images were necessary. The imageless systems allow the surgeon to digitize patient anatomy at the beginning of surgery without any preoperative imaging. The future of CAOS remains unknown, but there is no doubt that its importance will grow in the next 10 years, and that this technology will probably modify the conventional practice of orthopaedic surgery.

Early experience with computer-assisted shoulder hemiarthroplasty for fractures of the proximal humerus: development of a novel technique and an in vitro comparison with traditional methods

A computer-assisted technique was developed for treatment of 4-part proximal humeral fractures via a hemiarthroplasty and tuberosity fixation. This was compared with a standard traditional method in 7 pairs of cadaveric shoulders. The computer-assisted technique used preoperative computed tomography data and computer simulations of anatomic characteristics of the contralateral humerus. This allowed accurate anatomic reconstruction by use of an electromagnetic tracking system and real-time intraoperative feedback. Various anatomic measurements were used to quantify the accuracy of the reconstruction. The differences between the intact and reconstructed values were improved with the computer-assisted technique for 5 of 7 characteristics. However, this was statistically significant only for humeral head offset (P < .05). With further investigation and refinement, this technique should allow for a more anatomic reconstruction of the proximal humerus, potentially resulting in improved patient outcomes. The technique may also prove to be a valuable resource for the laboratory training of inexperienced surgical trainees.

Randomized clinical study to compare the accuracy of navigated and non-navigated thoracic pedicle screws in deformity correction surgeries

STUDY DESIGN

Randomized clinical trial (level I evidence).

OBJECTIVE

To compare the accuracy of non-navigation and Iso-C based navigation in pedicle screw fixation in thoracic spine deformities.

SUMMARY OF BACKGROUND DATA

Thoracic pedicle screw insertion for spinal deformity correction can be associated with increased pedicle breaches. Iso-C based navigation has been reported to improve the accuracy of pedicle screw placement, but its use in the presence of deformity has not been reported.

METHODS

Twenty-seven patients with scoliosis and 6 patients with kyphosis had a total of 478 thoracic pedicle screws. The average Cobb angle was 58.4 degrees +/- 8 degrees (range 50 degrees -80 degrees), and the mean kyphotic angle was 54.6 degrees +/- 4 degrees (range 51 degrees -76 degrees). By random allocation, 17 patients had screw insertion under navigation (242 screws) and 16 under fluoroscopic control (236 screws). The 2 groups were compared for accuracy of screw placement, time for screw insertion, and the number of times the C-arm had to be brought into the field. Two independent blinded observers determined accuracy using postoperative computed tomography assessments.

RESULTS

There were 54 (23%) pedicle breaches in the non-navigation group as compared to only 5 (2%) in the navigation group (P < 0.001). Thirty-eight screws (16%) in the non-navigation group had penetrated the anterior or lateral cortex compared to 2 screws (0.8%) in the navigation group. Average screw insertion time in the non-navigation group was 4.61 +/- 1.05 minutes (range 1.8-6.5) compared to 2.37 +/- 0.72 minutes (range 1.16-4.5) in navigation group (P < 0.01). The C-arm had to be moved into the operation field on an average of 1.5 +/- 0.25 times (range 1-3) per screw. With single screening data, an average of 11.4 pedicles (range 9-14) could be visualized without necessity to bring the C-arm into operating field again.

CONCLUSIONS

Iso-C navigation increases accuracy, and reduces surgical time and radiation in thoracic deformity correction surgeries.

The safety of fluoroscopically-assisted thoracic pedicle screw instrumentation for spine trauma

BACKGROUND

Pedicle screw fixation is considered biomechanically superior to other stabilization constructs. However, the potential for severe complications have discouraged its use in the thoracic spine. Our goal is to determine the incidence of major perioperative complications following the placement of thoracic pedicle screws using anatomic landmarks and intraoperative fluoroscopy in patients with spine fractures.

METHODS

Retrospective review of 245 consecutive patients with spine fractures requiring pedicle screw fixation between T1 and T10 at a regional Level I trauma center between 1995 and 2001. Database and medical record review were used to identify the incidence of major perioperative complications. A major complication was defined as a potentially life-threatening vascular injury, neurologic deterioration, pneumothorax or hemothorax, and tracheoesophageal injury. Patients were monitored for these complications from the time of surgery until discharge.

RESULTS

In all, 1,533 pedicle screws were placed between T1 and T10 in 245 patients. No patient sustained a major complication related to screw placement. Three patients (1.2%) required a secondary procedure for prophylactic revision of four (0.26%) malpositioned screws.

CONCLUSIONS

This study supports the safety of pedicle screws in the thoracic spine using preoperative imaging evaluation, standard posterior element landmarks and intraoperative fluoroscopy.

Three-dimensional rotational X-ray navigation for needle guidance in percutaneous vertebroplasty: an accuracy study

STUDY DESIGN

The position of a needle tip displayed on a navigation system after transpedicular introduction into a vertebral body is compared with the real position of the needle tip when using a direct navigation coupling between a three-dimensional rotational X-ray (3DRX) system and a navigation system.

OBJECTIVES

To assess whether the needle tip position displayed by the navigation system corresponds to the real needle position and to quantitatively determine needle navigation accuracy in a clinically relevant setting.

SUMMARY OF BACKGROUND DATA

Image-guided navigation has reportedly increased the accuracy and safety of pedicle screw insertion and decreased complication rates. In former studies, the result of image-guided navigation was mainly compared qualitatively with the result of conventional fluoroscopy-guided procedures. Previously, a direct navigation coupling between a 3DRX system and a standard navigation system was introduced that bypasses the need for explicit patient-to-image registration necessary for image-guided orthopedic surgery. In a phantom experiment, the reported accuracy of navigation with the coupling to a 3DRX system was approximately 1 mm. However, in a clinical setting, additional errors can be introduced.

METHODS

Twenty-three needles were placed transpedicularly into vertebral bodies of embalmed human trunks using 3DRX-guided navigation. The navigated needle tip positions were compared with the real needle tip positions manually extracted from 3DRX volumes acquired after completion of the introduction.

RESULTS

The average distance between the navigated needle tip and the real position of the needle tip extracted from a postprocedure 3DRX volume was 2.5 +/- 1.5 mm.

CONCLUSIONS

Accuracy of 3DRX-guided navigation is 2.5 +/- 1.5 mm in a clinically relevant setting, which is less than the accuracy determined in phantom experiments.

Orbital and maxillofacial computer aided surgery: patient-specific finite element models to predict surgical outcomes

This paper addresses an important issue raised for the clinical relevance of Computer-Assisted Surgical applications, namely the methodology used to automatically build patient-specific finite element (FE) models of anatomical structures. From this perspective, a method is proposed, based on a technique called the mesh-matching method, followed by a process that corrects mesh irregularities. The mesh-matching algorithm generates patient-specific volume meshes from an existing generic model. The mesh regularization process is based on the Jacobian matrix transform related to the FE reference element and the current element. This method for generating patient-specific FE models is first applied to computer-assisted maxillofacial surgery, and more precisely, to the FE elastic modelling of patient facial soft tissues. For each patient, the planned bone osteotomies (mandible, maxilla, chin) are used as boundary conditions to deform the FE face model, in order to predict the aesthetic outcome of the surgery. Seven FE patient-specific models were successfully generated by our method. For one patient, the prediction of the FE model is qualitatively compared with the patient's post-operative appearance, measured from a computer tomography scan. Then, our methodology is applied to computer-assisted orbital surgery. It is, therefore, evaluated for the generation of 11 patient-specific FE poroelastic models of the orbital soft tissues. These models are used to predict the consequences of the surgical decompression of the orbit. More precisely, an average law is extrapolated from the simulations carried out for each patient model. This law links the size of the osteotomy (i.e. the surgical gesture) and the backward displacement of the eyeball (the consequence of the surgical gesture).

Computer assisted pedicle screw fixation: clinical experience with a newly developed software

We have used software, recently developed at Cochin University of Science and Technology, to perform computer assisted pedicle screw placement in forty pedicles of ten patients with fractured thoracolumbar vertebrae from January 2002 to February 2004. A pre-operative CT scan section at the pedicle level is taken one vertebra above and one below the involved vertebra. The dicom image is converted into a bitmap image and reference lines are drawn through the transverse processes and the spinous processes. The screw trajectory is drawn in the image at the most suitable path of the pedicle. Intraoperatively reference pins are placed exactly at the same areas in the transverse processes and the spinous processes. The intraoperative image is live captured using a camera and is matched with the preoperative image and the awl is advanced into the pedicle corresponding to the screw trajectory in the CT image. Out of forty pedicles instrumented in ten patients using computer assistance, the pedicle wall violation as demonstrated with 1 mm thin CT scans was less than AMIOT Grade 2. Ideal placement was noted in 80% and clinically insignificant perforation (Grade 2&3) in the rest. Computer assisted pedicle screw fixation appears to be a good technique for the accurate placement of pedicle screws in fractured vertebrae.

Surface-based registration accuracy of CT-based image-guided spine surgery

Registration is a critical and important process in maintaining the accuracy of CT-based image-guided surgery. The aim of this study was to evaluate the effects of the area of intraoperative data sampling and number of sampling points on the accuracy of surface-based registration in a CT-based spinal-navigation system, using an optical three-dimensional localizer. A cadaveric dry-bone phantom of the lumbar spine was used. To evaluate registration accuracy, three alumina ceramic balls were attached to the anterior and lateral aspects of the vertebral body. CT images of the phantom were obtained (1-mm slice thickness, at1-mm intervals) using a helical CT scanner. Twenty surface points were digitized from five zones defined on the basis of anatomical classification on the posterior aspects of the target vertebra. A total of 20 sets of sampling data were obtained. Evaluation of registration accuracy accounted for positional and rotational errors. Of the five zones, the area that was the largest and easiest to expose surgically and to digitize surface points was the lamina. The lamina was defined as standard zone. On this zone, the effect of the number of sampling points on the positional and rotational accuracy of registration was evaluated. And the effects of the additional area selected for intraoperative data sampling on the registration accuracy were evaluated. Using 20 surface points on the posterior side of the lamina, positional error was 0.96 mm +/- 0.24 mm root-mean-square (RMS) and rotational error was 0.91 degrees +/- 0.38 degrees RMS. The use of 20 surface points on the lamina usually allows surgeons to carry out sufficiently accurate registration to conduct computer-aided spine surgery. In the case of severe spondylosis, however, it might be difficult to digitize the surface points from the lamina, due to a hypertrophic facet joint or the deformity of the lamina and noisy sampling data. In such cases, registration accuracy can be improved by combining use of the 20 surface points on the lamina with surface points on other zones, such as on the both sides of the spinous process.

Reliability of Three-dimensional Fluoroscopy For Detecting Pedicle Screw Violations in the Thoracic and Lumbar Spine

OBJECTIVE

Thoracic and lumbar pedicle screws have become popular because of their biomechanical superiority over other methods of spinal fixation. However, the safety and efficacy of transpedicular screws depend on their proper placement. Recent advances in imaging have resulted in the ability to acquire three-dimensional (3-D) axial images of the spine during surgery, and this study was undertaken to assess the reliability of this technology to detect pedicle violations.

METHODS

Pedicle screws were placed in six human cadaver spines from T1 to S1 using standard techniques. Intentional pedicle violations were created in 74 of 216 pedicles, and violations were graded on a four-point scale (range, 0-3). Radiographic images were then obtained using a conventional spiral computed tomographic scanner and the Siremobil Iso-C 3D (Siemens Medical Solutions, Erlangen, Germany) 3-D fluoroscopy unit. An independent neuroradiologist then graded pedicle violations as ascertained by the two imaging modalities.

RESULTS

Using direct inspection of the pedicles as the "gold standard," the overall sensitivity and specificity for detecting pedicle violations were 0.716 and 0.789, respectively, with 3-D fluoroscopy. The overall sensitivity and specificity for detecting pedicle violations were 0.608 and 0.937, respectively, with conventional computed tomography. All Grade 2 pedicle violations were detected in the thoracic spine by both modalities, and all Grade 3 violations were detected by both modalities.

CONCLUSION

Axial images obtained with 3-D fluoroscopy demonstrate a higher sensitivity but lower specificity than conventional computed tomographic scanning for assessing pedicle violations. By providing real-time intraoperative imaging, 3-D fluoroscopy may enhance the safety of thoracic transpedicular instrumentation.

Thoracic pedicle screws: postoperative computerized tomography scanning assessment

OBJECT

The authors evaluated the accuracy of placement of thoracic pedicle screws by performing postoperative computerized tomography (CT) scanning. A grading system is presented by which screw placement is classified in relation to neurological, bone, and intrathoracic landmarks.

METHODS

One hundred eighty-five thoracic pedicle screws were implanted in 27 patients with the assistance of computer image guidance or fluoroscopy. Postoperative CT scanning was conducted to determine a grade for each screw: Grade I, entirely contained within pedicle; Grade II, violates lateral pedicle but screw tip entirely contained within the vertebral body (VB); Grade III, tip penetrates anterior or lateral VB; Grade IV, breaches medial or inferior pedicle; and Grade V, violates pedicle or VB and endangers spinal cord, nerve root, or great vessels and requires immediate revision. Based on anatomical morphometry, the spine was subdivided into upper (T1-2), middle (T3-6), and lower (T7-12) regions. Statistical analyses were performed to compare regions. The mean follow-up period was 37.6 months. The following postoperative CT scanning-documented grades were determined: Grade I, 160 screws (86.5%); Grade II, 15 (8.1%); Grade III, six (3.2%); Grade IV, three (1.6%); and Grade V, one (0.5%). Among cases involving screw misplacements, Grade II placement was most common, and this occurred most frequently in the middle thoracic region.

CONCLUSIONS

The authors' grading system has advantages over those previously described; however, further study to determine its reliability, reproducibility, and predictive value of clinical sequelae is warranted. Postoperative CT scanning should be considered the gold standard for evaluating thoracic pedicle screw placement.

Computer-assisted orthopedic surgery

Computer-assisted surgery (CAS) utilizing robotic or image-guided technologies has been introduced into various orthopedic fields. Navigation and robotic systems are the most advanced parts of CAS, and their range of functions and applications is increasing. Surgical navigation is a visualization system that gives positional information about surgical tools or implants relative to a target organ (bone) on a computer display. There are three types of surgical planning that involve navigation systems. One makes use of volumetric images, such as computed tomography, magnetic resonance imaging, or ultrasound echograms. Another makes use of intraoperative fluoroscopic images. The last type makes use of kinetic information about joints or morphometric information about the target bones obtained intraoperatively. Systems that involve these planning methods are called volumetric image-based navigation, fluoroscopic navigation, and imageless navigation, respectively. To overcome the inaccuracy of hand-controlled positioning of surgical tools, three robotic systems have been developed. One type directs a cutting guide block or a drilling guide sleeve, with surgeons sliding a bone saw or a drill bit through the guide instrument to execute a surgical action. Another type constrains the range of movement of a surgical tool held by a robot arm such as ACROBOT. The last type is an active system, such as ROBODOC or CASPAR, which directs a milling device automatically according to preoperative planning. These CAS systems, their potential, and their limitations are reviewed here. Future technologies and future directions of CAS that will help provide improved patient outcomes in a cost-effective manner are also discussed.

Computer assisted orthopaedic and trauma surgery. State of the art and future perspectives

In recent years computer technologies have become more and more integrated in surgical procedures. The potential advantages of computer assisted surgery (CAS) are: increase of accuracy of surgical interventions, less invasive operations, better planning and simulation and reduction of radiation exposure for both patient and surgeon. After introduction of CAS in neurosurgery, the clinical applications of this technique expanded also into trauma and orthopaedic surgery. The first application of this new technique in orthopaedic and trauma surgery was for placement of lumbar pedicle screws. After its introduction into spine surgery, CAS was applied in other fields of orthopaedic surgery like hip, knee and skeletal trauma surgery. In this article the technical background and the various clinical applications and future perspectives of computer assisted orthopaedic and trauma surgery are outlined.

Segmentation of MR images for computer-assisted surgery of the lumbar spine

This paper describes a segmentation algorithm designed to separate bone from soft tissue in magnetic resonance (MR) images developed for computer-assisted surgery of the spine. The algorithm was applied to MR images of the spine of healthy volunteers. Registration experiments were carried out on a physical model of a spine generated from computed tomography (CT) data of a surgical patient. Segmented CT, manually segmented MR and MR images segmented using the developed algorithm were compared. The algorithm performed well at segmenting bone from soft tissue on images taken of healthy volunteers. Registration experiments showed similar results between the CT and MR data. The MR data, which were manually segmented, performed worse on visual verification experiments than both the CT and semi-automatic segmented data. The algorithm developed performs well at segmenting bone from soft tissue in MR images of the spine as measured using registration experiments.

Computer assisted screw insertion into real 3D rapid prototyping pelvis models

OBJECTIVE

Show the use of computer navigation in exact screw positioning in the different pelvic bones.

BACKGROUND

Computer assisted pedicle screw insertion in the spine is an established procedure. Screw fixation is also used in highly difficult pelvic and hip surgery (arthroplasty revision surgery and tumor surgery).

DESIGN

Insert as long screws as possible with computer navigation into the different bones of the pelvis and compare these results with a non-computer controlled method.

METHODS

The computer navigation was done with the system of Medivision (Oberdorf, Switzerland), the software was SurgiGATE 2.1. Optically controlled spine instruments and a special calibrated drill were used. The screw insertion with and without computer navigation took place in seven real rapid prototyping pelvis models matched by pairs. Three screws were inserted into the Os ileum, one into the Os pubis and one into the Os ischium. The length of the inserted screws were measured and compared using routine statistic methods.

RESULTS

The mean screw length with vs. without computer navigation was 8.9 vs. 5.7 cm in the Os ileum (P=0.0001), 6.0 vs. 4.2 cm in the Os pubis (P=0.01) and 4.3 vs. 3.9 cm in the Os ischium (not significant).

CONCLUSIONS

The use of computer navigation allows for the insertion of longer screws into the bones of the pelvis (more exact positioning), which requires a more precise original point of entry and direction of the drill (vector).

RELEVANCE

The insertion of fixation screws in highly difficult pelvic and hip surgery (revision arthroplasty, tumor surgery) are another field for the use of computer navigation.

Computer-aided hepatic tumour ablation: requirements and preliminary results

Surgical resection of hepatic tumours is not always possible, since it depends on different factors, among which their location inside the liver functional segments. Alternative techniques consist in local use of chemical or physical agents to destroy the tumour. Radio frequency and cryosurgical ablations are examples of such alternative techniques that may be performed percutaneously. This requires a precise localisation of the tumour placement during ablation. Computer-assisted surgery tools may be used in conjunction with these new ablation techniques to improve the therapeutic efficiency, whilst they benefit from minimal invasiveness. This paper introduces the principles of a system for computer-assisted hepatic tumour ablation and describes preliminary experiments focusing on data registration evaluation. To keep close to conventional protocols, we consider registration of pre-operative CT or MRI data to intra-operative echographic data.

Update on use of instrumentation in lumbar spine disorders

The past 20 years have witnessed significant changes in the indications for and use of instrumentation in lumbar spine surgery. Absolute indications for surgical instrumentation include cases of clearly defined instability that commonly occur in the setting of trauma, tumour and infection. Relative indications for instrumentation must consider the clinical context and individual patient characteristics but may include cases of spondylolisthesis, junctional stenosis and pseudarthrosis. The use of instrumentation in the surgical treatment of degenerative disc disease is prevalent but remains highly controversial. Pedicle screws and interbody cages represent alternative forms of instrumentation with substantial clinical evidence supporting their safety and efficacy when applied in the correct clinical settings. Minimally invasive and computer-assisted surgical techniques have shown promising early results but must be subject to longer-term scrutiny. The development of prosthetic disc replacements is an exciting area of research, but clinical results have not approached the success currently enjoyed by hip and knee prostheses, and these devices should be considered experimental. One of the goals of instrumentation is to enhance the rate of spinal fusion. However, achievement of solid radiographic fusion does not guarantee a clinically successful outcome and, conversely, excellent results can be obtained in the setting of radiographic pseudarthrosis. The most important determinant of favourable surgical outcome is appropriate patient selection through a sound understanding of surgical indications.