Image-guided computer-assisted spine surgery: a pilot study on pedicle screw fixation

Machine Vision Navigation in Spine Surgery

The advancements in computing and digital localizer technologies has led to the evolving clinical application of image-guided technology for the surgical management of spinal disorders. Image-guided spinal navigation addresses the limitations of fluoroscopy and improves the accurate placement of fixation screws. Several navigation platforms are currently available, each having its own unique advantages and disadvantages. The most recent spinal navigation system developed utilizes machine vision structured light imaging which creates a precise and detailed three-dimensional image of the exposed surface anatomy and co-registers it to a pre-operatively or intra-operatively acquired image. This system improves upon the intraoperative workflow and efficiency of the navigation process. With the continued advancements in machine vision, there is a potential for clinical applications that extend beyond surgical navigation. These applications include reducing the potential for wrong level spine surgery and providing for real-time tracking of spinal deformity correction. As the adoption and clinical experience with navigation continues to expand and evolve, the technology that enables navigation also continues to evolve.

The Use of Image-Guided Navigation Systems During Spine Surgeries in Saudi Arabia: A Cross-Sectional Study

BACKGROUND

We used a cross-sectional study design (questionnaire) to investigate the use of image-guided navigation (IGN) in Saudi Arabia and explore possible differences in implementing IGN for daily practice.

METHODS

An internet-based survey was sent to all spine surgeons who are practicing in Saudi Arabia (orthopedics or neurosurgery). The survey is composed of 12 items that collected demographic and academic data.

RESULTS

Ninety-nine answered the questionnaire from 197; 80% were from Riyadh, the capital, and 50% were consultants (attending physicians). Orthopedic surgeons were almost 60% of responders compared to 40% neurosurgeons. The use of navigation in Saudi hospitals was high (76.8%). There was a significant difference between specialties in the preference of using navigation (23.2% for orthopedics versus 81.4% for neurosurgery, P < .001) and routine use in surgical spine cases (88.4% for neurosurgery versus 50.0% orthopedics, P < .001). The majority of responders from neurosurgery learned to use navigation during residency compared to orthopedics responders (51.2% versus 28.6%, P = .001). More than 30% of orthopedics responders expressed they never learned navigation compared to only 4% of neurosurgery responders. The comfort level of > 75% with performing surgery using navigation was significantly different between specialties (25% for orthopedics versus 46.5% for neurosurgery, P < .001).

CONCLUSION

Saudi spine surgeons are among the highest users of IGN systems. The strong healthcare infrastructure and the availability of these devices across the country are among the most important factors for its prevalence. Enhancing surgical exposure and education of postgraduate trainees to use these tools, especially within orthopedics, could increase use and comfort level rates.

Computerized Tomography-Based Morphometric Analysis of Subaxial Cervical Spine Pedicle in Asymptomatic Indian Population

Background

The purpose of this study was to analyze morphometry of the subaxial cervical spine pedicles in an Indian population based on computed tomography (CT), and thus assess the safety and feasibility of cervical pedicle screw in the subaxial cervical spine.

Methods

CT scans of 500 subaxial cervical spine vertebrae were analyzed from 100 patients presenting to our institution and undergoing cervical spine CT scan for an unrelated cause as part of ATLS protocol. Pedicle width (PW), pedicle axis length (PAL), pedicle transverse angulation (PTA), and lateral pedicle distance (LPD) were calculated on axial CT scans, and pedicle height (PH), pedicle length (PL), superior pedicle distance (SPD), and pedicle sagittal angulation (PSA) were calculated on sagittal CT scans.

Results

The mean PW ranged from 4.3 mm at C3 to 5.7 mm at C7. Mean PH ranged from 5.5 mm at C3 to 6.1 mm at C7. Mean PTA ranged from 44.5° at C3 to 37.1° at C7. PSA ranged from 16.65° at C3 to 3.29° at C7. Mean LPD ranged from 1.6 mm at C3 to 3.4 mm at C6. Mean SPD ranged from 3.5 mm at C3 to 1.15 mm at C7. Mean PAL ranged from 29.6 mm at C3 to 33.04 mm at C7. Mean PL ranged from 5.2 mm at C3 to 5.78 mm at C7.

Conclusions

Our CT-based morphometric study confirms that cervical pedicle screw placement is possible in most of the Indian population except at C3 in females. A thorough understanding of pedicle anatomy with proper CT-based preoperative planning can mitigate the risk associated with pedicle screw placement in subaxial cervical spine.

Radiographic comparison of cross-sectional lumbar pedicle fill when placing screws with navigation versus free-hand technique

BACKGROUND

Pedicle screws are often used for spinal fixation. Increasing the percentage of pedicle that is filled with the screw presumably yields greater fixation. It has not been shown whether spinal navigation helps surgeons more completely fill their instrumented pedicles.

METHODS

Fifty consecutive patients from each arm (navigated and free-hand) were retrospectively reviewed. The cross-sectional area of each instrumented lumbar pedicle and screw were measured using an automatic area calculation tool. The coronal images and measurements were blinded to the surgeons.

RESULTS

The instrumented pedicles in the navigated patients were significantly more filled by screws than the pedicles in the non-navigated patients (P < 0.001).

CONCLUSION

Obtaining a higher cross-sectional percentage fill of the pedicle with a screw is expected to provide greater spinal fixation in instrumented fusion surgery. This study shows that utilizing spinal navigation helps to more completely fill the pedicles that are being instrumented. Copyright © 2015 John Wiley & Sons, Ltd.

Intraoperative image-guided spinal navigation: technical pitfalls and their avoidance

Spinal instrumentation has made significant advances in the last two decades, with transpedicular constructs now widely used in spinal fixation. Pedicle screw constructs are routinely used in thoracolumbar-instrumented fusions, and in recent years, the cervical spine as well. Three-column fixations with pedicle screws provide the most rigid form of posterior stabilization. Surgical landmarks and fluoroscopy have been used routinely for pedicle screw insertion, but a number of studies reveal inaccuracies in placement using these conventional techniques (ranging from 10% to 50%). The ability to combine 3D imaging with intraoperative navigation systems has improved the accuracy and safety of pedicle screw placement, especially in more complex spinal deformities. However, in the authors' experience with image guidance in more than 1500 cases, several potential pitfalls have been identified while using intraoperative spinal navigation that could lead to suboptimal results. This article summarizes the authors' experience with these various pitfalls using spinal navigation, and gives practical tips on their avoidance and management.

Safety and efficacy of pedicle screw placement using intraoperative computed tomography: consecutive series of 1148 pedicle screws

Object

A number of imaging techniques have been introduced to minimize the risk of pedicle screw placement. Intraoperative CT has been recently introduced to assist in spinal instrumentation. The aim of this study was to study the effectiveness of intraoperative CT in enhancing the safety and accuracy of pedicle screw placement.

Methods

The authors included all cases from December 2009 through July 2012 in which intraoperative CT scanning was used to confirm pedicle screw placement.

Results

A total of 203 patients met the inclusion criteria. Of 1148 screws, 103 screws (8.97%) were revised intraoperatively in 72 patients (35.5%): 14 (18.42%) were revised in the cervical spine (C-2 or C-7), 25 (7.25%) in the thoracic spine, and 64 (8.80%) in the lumbar spine. Compared with screws in the thoracic and lumbar regions, pedicle screws placed in the cervical region were statistically more likely to be revised (p = 0.0061). Two patients (0.99%) required reoperations due to undetected misplacement of pedicle screws.

Conclusions

The authors describe one of the first North American experiences using intraoperative CT scanning to confirm the placement of pedicle screws. Compared with a similar cohort of patients from their institution who had pedicle screws inserted via the free-hand technique with postoperative CT, the authors found that the intraoperative CT lowers the threshold for pedicle screw revision, resulting in a statistically higher rate of screw revision in the thoracic and lumbar spine (p < 0.0001). During their 2.5-year experience with the intraoperative CT, the authors did not find a reduction in rates of reoperation for misplaced pedicle screws.

Intraoperative three-dimensional fluoroscopy after transpedicular positioning of Kirschner-wire versus conventional intraoperative biplanar fluoroscopic control: A retrospective study of 345 patients and 1880 pedicle screws

STUDY DESIGN

Retrospective study.

OBJECTIVE

The aim was to find out whether intraoperative three-dimensional imaging after transpedicular positioning of Kirschner wire (K-wire) in lumbar and thoracic posterior instrumentation procedures is of benefit to the patients and if this technique is accurately enough to make a postoperative screw position control through computer tomography (CT) dispensable.

PATIENTS AND METHODS

Lumbar and thoracic posterior instrumentation procedures conducted at our department between 2002 and 2012 were retrospectively reviewed. The patients were divided into two groups: group A, including patients who underwent intraoperative three-dimensional scan after transpedicular positioning of the K-wire and group B, including patients who underwent only intraoperative biplanar fluoroscopy. An early postoperative CT of the instrumented section was done in all cases to assess the screw position. The rate of immediate intraoperative correction of the K-wires in cases of mal-positioning, as well as the rate of postoperative screw revisions, was measured.

RESULTS

In general, 345 patients (1880 screws) were reviewed and divided into two groups; group A with 225 patients (1218 screws) and group B with 120 patients (662 screws). One patient (0.44%) (one screw [0.082%]) of group A underwent postoperative screw correction while screw revisions were necessary in 14 patients (11.7%) (28 screws [4.2%]) of group B. Twenty-three patients (10.2%) (28 K-wires [2.3%]) of group A underwent intraoperative correction due to primary intraoperative detected K-wire mal-position. None of the corrected K-wires resulted in a corresponding neurological deficit.

CONCLUSION

Three-dimensional imaging after transpedicular K-wire positioning leads to solid intraoperative identification of misplaced K-wires prior to screw placement and reduces screw revision rates compared with conventional fluoroscopic control. When no clinical deterioration emerges, a postoperative CT seems to be dispensable using this intraoperative three-dimensional control method.

Image-guided navigation and video-assisted thoracoscopic spine surgery: the second generation

Object

Video-assisted thoracoscopic surgery (VATS) has evolved for treatment of a variety of spinal disorders. Early incorporation with image-guided surgery (IGS) was challenged due to reproducibility and adaptability, limiting the procedure's acceptance. In the present study, the authors report their experience with second-generation IGS and VATS technologies for anterior thoracic minimally invasive spinal (MIS) procedures.

Methods

The surgical procedure is described in detail including operating room set-up, patient positioning (a lateral decubitus position), placement of the spinal reference frame and portal, radiographic localization, registration, surgical instruments, and the image-guided thoracoscopic discectomy.

Results

Combined IGS and VATS procedures were successfully performed and assisted in anatomical localization in 14 patients. The mean patient age was 59 years (range 32–73 years). Disc herniation pathology represented the most common indication for surgery (n = 8 patients); intrathoracic spinal tumors were present in 4 patients and the remaining patients had infection and ossification of the posterior longitudinal ligament. All patients required chest tube drainage postoperatively, and all but 1 patient had drainage discontinued the following day. The only complication was a seroma that was presumed to be due to steroid therapy for postoperative weakness. At the final follow-up, 11 of the patients were improved neurologically, 2 patients had baseline neurological status, and the 1 patient with postoperative weakness was able to ambulate, albeit with an assistive device.

The evolution of thoracoscopic surgical procedures occurring over 20 years is presented, including their limitations. The combination of VATS and IGS technologies is discussed including their safety and the importance of 3D imaging. In cases of large open thoracotomy procedures, surgeries require difficult, extensive, and invasive access through the chest cavity; using a MIS procedure can potentially eliminate many of the complications and morbidities associated with large open procedures. The authors report their experience with thoracic spinal surgeries that involved MIS procedures and the new technologies.

Conclusions

The most significant advance in IGS procedures has resulted from intraoperative CT scanning and automatic registration with the IGS workstation. Image guidance can be used in conjunction with VATS techniques for thoracic discectomy, spinal tumors, infection, and ossification of the posterior longitudinal ligament. The authors' initial experience has revealed this technique to be useful and potentially applicable to other MIS procedures.

Screw placement accuracy for minimally invasive transforaminal lumbar interbody fusion surgery: a study on 3-d neuronavigation-guided surgery

Purpose The aim of this study was to assess the impact of 3-D navigation for pedicle screw placement accuracy in minimally invasive transverse lumbar interbody fusion (MIS-TLIF). Methods A retrospective review of 52 patients who had MIS-TLIF assisted with 3D navigation is presented. Clinical outcomes were assessed with the Oswestry Disability Index (ODI), Visual Analog Scales (VAS), and MacNab scores. Radiographic outcomes were assessed using X-rays and thin-slice computed tomography. Result The mean age was 56.5 years, and 172 screws were implanted with 16 pedicle breaches (91.0% accuracy rate). Radiographic fusion rate at a mean follow-up of 15.6 months was 87.23%. No revision surgeries were required. The mean improvement in the VAS back pain, VAS leg pain, and ODI at 11.3 months follow-up was 4.3, 4.5, and 26.8 points, respectively. At last follow-up the mean postoperative disc height gain was 4.92 mm and the mean postoperative disc angle gain was 2.79 degrees. At L5-S1 level, there was a significant correlation between a greater disc space height gain and a lower VAS leg score. Conclusion Our data support that application of 3-D navigation in MIS-TLIF is associated with a high level of accuracy in the pedicle screw placement.

Worldwide survey on the use of navigation in spine surgery

OBJECTIVE

Computer-assisted surgery (CAS) can improve the accuracy of screw placement and decrease radiation exposure, yet this is not widely accepted among spine surgeons. The current viewpoint of spine surgeons on navigation in their everyday practice is an important issue that has not been studied. A survey-based study assessed opinions on CAS to describe the current global attitudes of surgeons on the use of navigation in spine surgery.

METHODS

A 12-item questionnaire focusing on the number and type of surgical cases, the type of equipment available, and general opinions toward CAS was distributed to 3348 AOSpine surgeons (a specialty group within the AO [Arbeitsgemeinschaft für Osteosynthesefragen] Foundation). Latent class analysis was used to investigate the existence of specific groups based on the respondent opinion profiles.

RESULTS

A response rate of 20% was recorded. Despite a widespread distribution of navigation systems in North America and Europe, only 11% of surgeons use it routinely. High-volume procedure surgeons, neurological surgeons, and surgeons with a busy minimal invasive surgery practice are more likely to use CAS. "Routine users" consider the accuracy, potential of facilitating complex surgery, and reduction in radiation exposure as the main advantages. The lack of equipment, inadequate training, and high costs are the main reasons that "nonusers" do not use CAS.

CONCLUSIONS

Spine surgeons acknowledge the value of CAS, yet current systems do not meet their expectations in terms of ease of use and integration into the surgical work flow. To increase its use, CAS has to become more cost efficient and scientific data are needed to clarify its potential benefits.

Intraoperative computed tomography image-guided navigation for posterior thoracolumbar spinal instrumentation in spinal deformity surgery

OBJECT

Placement of thoracolumbar pedicle screws in spinal deformity surgery has a reported inaccuracy rate as high as 30%. At present, image-guided navigation systems designed to improve instrumentation accuracy typically use intraoperative fluoroscopy or preoperative CT scans. The authors report the prospective evaluation of the accuracy of posterior thoracolumbar spinal instrumentation using a new intraoperative CT operative suite with an integrated image guidance system. They compare the accuracy of thoracolumbar pedicle screw placement using intraoperative CT image guidance with instrumentation placement utilizing fluoroscopy.

METHODS

Between December 2007 and July 2008, 12 patients underwent posterior spinal instrumentation for spinal deformity correction using intraoperative CT-based image guidance. An intraoperative CT scan of the sterile surgical field was obtained after decompression and before instrumentation. Instrumentation was placed, and a postinstrumentation CT scan was obtained before wound closure to assess the accuracy of instrumentation placement and the potential need for revision. The accuracy of pedicle screw placement was later reviewed and recorded by independent observers. A comparison group of 14 patients who underwent thoracolumbar instrumentation utilizing fluoroscopy and postoperative CT scanning during the same time period was evaluated and included in this analysis.

RESULTS

In the intraoperative CT-based image guidance group, a total of 164 thoracolumbar pedicle screws were placed. Two screws were found to have breached the pedicle wall (1.2%). Neither screw was deemed to need revision due to misplacement. In the comparison group, 211 pedicle screws were placed. Postoperative CT scanning revealed that 11 screws (5.2%) had breached the pedicle. One patient in the fluoroscopy group awoke with a radiculopathy attributed to a misplaced screw, which required revision. The difference in accuracy was statistically significant (p = 0.031).

CONCLUSIONS

Intraoperative CT-based image guidance for placement of thoracolumbar instrumentation has an accuracy that exceeds reported rates with other image guidance systems, such as virtual fluoroscopy and 3D isocentric C-arm-based stereotactic systems. Furthermore, with the use of intraoperative CT scanning, a postinstrumentation CT scan allows the surgeon to evaluate the accuracy of instrumentation before wound closure and revise as appropriate.

Accuracy of upper thoracic pedicle screw placement using three-dimensional image guidance

BACKGROUND CONTEXT

Pedicle screw malposition rates using conventional techniques have been reported to occur with a frequency of 6% to 41%. The upper thoracic spine (T1-T3) is a challenging area for pedicle screw placement secondary to the small size of the pedicles, the inability to visualize this area with lateral fluoroscopy, and significant consequences for malpositioned screws. We describe our experience placing 150 pedicle screws in the T1-T3 levels using three-dimensional (3D) image guidance.

PURPOSE

The aim of this study was to assess the accuracy of 3D image guidance for placing pedicle screws in the first three thoracic vertebrae.

STUDY DESIGN

The accuracy of pedicle screw placement in the first three thoracic vertebrae was evaluated using postoperative thin-section computed tomography (CT) scans of the cervicothoracic region.

PATIENT SAMPLE

Thirty-four patients who underwent cervicothoracic fusion were included.

OUTCOME MEASURES

Radiological investigation with CT scans was performed during the postoperative period.

METHODS

Thirty-four consecutive patients underwent cervicothoracic instrumentation and fusion for a total of 150 pedicle screws placed in the first three thoracic vertebrae. All screws were placed using 3D image guidance. Medical records and postoperative imaging of the cervicothoracic junction for each patient were retrospectively reviewed. An independent radiologist reviewed the placement of the pedicle screws and assessed for pedicle breach. All cortical violations were reported as Grade 1, 0 to 2 mm; Grade 2, 2 to 4 mm; and Grade 3, greater than 4 mm.

RESULTS

Overall, 140 (93.3%) out of 150 screws were contained solely in the desired pedicle. All 10 pedicle violations were Grade 1. The direction of pedicle violation included three medial, four inferior, two superior, and one minor anterolateral vertebral body. No complication occurred as a result of screw placement or the use of image guidance.

CONCLUSIONS

Upper thoracic pedicle screw placement is technically demanding as a result of variable pedicle anatomy and difficulty with two-dimensional visualization. This study demonstrates the accuracy and reliability of 3D image guidance when placing pedicle screws in this region. Advantages of this technology in our practice include safe and accurate placement of spinal instrumentation with little to no radiation exposure to the surgeon and operating room staff.

Placement of thoracolumbar pedicle screws using three-dimensional image guidance: experience in a large patient cohort

OBJECT

The goal of this study was to analyze the placement accuracy and complications of thoracolumbar pedicle screws (PSs) inserted using 3D image guidance in a large patient cohort.

METHODS

The authors reviewed the charts of 220 consecutive patients undergoing posterior spinal fusion using 3D image guidance for instrumentation placement. A total of 1084 thoracolumbar PSs were placed using either the BrainLAB Vector Vision (BrainLAB, Inc.) or Medtronic StealthStation Treon (Medtronic, Inc.) image guidance systems. Postoperative CT scanning was performed in 184 patients, allowing for 951 screws to be graded by an independent radiologist for bone breach. All complications resulting from instrumentation placement were noted. Using the intraoperative planning function of the image-guided system, the largest diameter screw possible in each particular case was placed. The screw diameter of instrumentation placed into the L3-S1 levels was noted.

RESULTS

No vascular or visceral complications occurred as a result of screw placement. Two nerve root injuries occurred in 1084 screws placed, resulting in a 0.2% per screw incidence and a 0.9% patient incidence of nerve root injury. Neither nerve root injury was associated with a motor deficit. The breach rate was 7.5%. Grade 1 and minor anterolateral "tip out" breaches accounted for 90% of the total breaches. Patients undergoing revision surgery accounted for 46% of the patients in this study. Accordingly, 154 screws placed through previous fusion mass could be evaluated using postoperative CT scanning. The breach rate in this specific cohort was 7.8%. A total of 765 PSs were placed into the L3-S1 levels in this study; 546 (71%) of these screws were > or = 7.5 mm in diameter. No statistical difference in breach rate was noted in PSs placed through revision spinal levels versus nonrevision spinal levels (p = 0.499). Additionally, no increase in breach rate was noted with placement of 7.5-mm-diameter screws.

CONCLUSIONS

Three-dimensional image guidance is a useful adjunct to placement of spinal instrumentation. The complication rate in this study was low, and accurate placement of instrumentation was achieved despite the high percentage of revision surgery cases in our patient population. Additionally, because active fluoroscopy was not used for instrumentation placement, there was minimal to no radiation exposure to the surgeon or operating room staff.

Placement of C2 laminar screws using three-dimensional fluoroscopy-based image guidance

The use of C2 laminar screws in posterior cervical fusion is a relatively new technique that provides rigid fixation of the axis with minimal risk to the vertebral artery. The techniques of C2 laminar screw placement described in the literature rely solely on anatomical landmarks to guide screw insertion. The authors report on their experience with placement of C2 laminar screws using three-dimensional (3D) fluoroscopy-based image-guidance in eight patients undergoing posterior cervical fusion. Overall, fifteen C2 laminar screws were placed. There were no complications in any of the patients. Average follow-up was 10 months (range 3-14 months). Postoperative computed tomographic (CT) scanning was available for seven patients allowing evaluation of placement of thirteen C2 laminar screws, all of which were in good position with no spinal canal violation. The intraoperative planning function of the image-guided system allowed for 4-mm diameter screws to be placed in all cases. Using modified Odom's criteria, excellent or good relief of preoperative symptoms was noted in all patients at final follow-up.

Timing of Paired Points and Surface Matching Registration in Three-Dimensional (3D) Image-guided Spinal Surgery

Image-guidance can increase the safety and accuracy of spinal instrumentation placement. However, many spine surgeons are reluctant to incorporate spinal image-guidance into their surgical practice due to the perception that it is time-consuming and tedious, especially the task of vertebral registration. The authors evaluated the time required for paired points and surface matching registration when using the BrainLAB (BrainLAB, Westchester, IL) image-guided spine application for spinal surgery cases. The time required to register vertebral segments using paired points and surface matching techniques was assessed in 13 consecutive patients undergoing spinal fusions by the senior author. Overall, 23 vertebral segments were registered spanning from T1 to S1. Note was made of the vertebral segments that required reregistration due to poor accuracy. The average time required to register a single vertebral segment using the paired points and surface matching technique was 117 seconds (1 min 57 s). Average accuracy obtained was 0.9 mm. Inaccurate registration occurred in 3/23 (13%) of the segments requiring a second attempt at registration. In 3/23 (13%) of segments, adequate navigation accuracy was maintained on an adjacent vertebral segment thereby allowing for instrumentation to be placed in that adjacent segment without having to register that segment. Though associated with a learning curve, image-guidance can be used effectively and efficiently in spinal surgery. Average time required for registration of a vertebral segment using the BrainLAB spine application in this study was less than 2 minutes. The average accuracy obtained was 0.9 mm.

Pedicle screw placement accuracy: a meta-analysis

STUDY DESIGN

A meta-analysis of the published literature was conducted specifically looking at accuracy and the postoperative methods used for the assessment of pedicle screw placement in the human spine.

OBJECTIVES

This study specifically aimed to identify postoperative methods used for pedicle screw placement assessment, including the most common method, and to report cumulative pedicle screw placement study statistics from synthesis of the published literature.

SUMMARY OF BACKGROUND DATA

Safety concerns have driven specific interests in the accuracy and precision of pedicle screw placement. A large variation in reported accuracy may exist partly due to the lack of a standardized evaluation method and/or the lack of consensus to what, or in which range, is pedicle screw placement accuracy considered satisfactory.

METHODS

A MEDLINE search was executed covering the span from 1966 until 2006, and references from identified papers were reviewed. An extensive database was constructed for synthesis of the identified studies. Subgroups and descriptive statistics were determined based on the type of population, in vivo or cadaveric, and separated based on whether the assistance of navigation was employed.

RESULTS

In total, we report on 130 studies resulting in 37,337 total pedicle screws implanted, of which 34,107 (91.3%) were identified as accurately placed for the combined in vivo and cadaveric populations. The most common assessment method identified pedicle screw violations simply as either present or absent. Overall, the median placement accuracy for the in vivo assisted navigation subgroup (95.2%) was higher than that of the subgroup without the use of navigation (90.3%).

CONCLUSIONS

Navigation does indeed provide a higher accuracy in the placement of pedicle screws for most of the subgroups presented. However, an exception is found at the thoracic levels for both the in vivo and cadaveric populations, where no advantage in the use of navigation was found.

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.

Bone-mounted miniature robotic guidance for pedicle screw and translaminar facet screw placement: Part I--Technical development and a test case result

OBJECTIVE

To introduce a new miniature robot (SpineAssist; MAZOR Surgical Technologies, Caesarea, Israel) that has been developed and tested as a surgical assistant for accurate percutaneous placement of pedicle screws and translaminar facet screws.

METHODS

Virtual projections in three planes-axial, lateral, and anteroposterior-are reconstructed for each vertebra from a preoperative computed tomographic (CT) scan. On a specially designed graphic user interface with proprietary software, the surgeon plans the trajectory of the screws. Intraoperative fluoroscopic x-rays with targeting devices are then matched with the CT-based virtual images, as well as the surgeon's plan. A clamp is attached to the spinous process or a minimally invasive frame (Hover-T frame; MAZOR Surgical Technologies) is mounted to the iliac crest and one spinous process. The miniature robot is then attached to the clamp and/or frame. On the basis of combined CT scan and fluoroscopic data, the robot aligns itself to the desired entry point and trajectory, as dictated by the surgeon's preoperative plan.

RESULTS

A test case in a cadaver lumbar spine was performed in which four screws and two rods were inserted, using a minimally invasive technique, combining the SpineAssist system and Hover-T frame in conjunction with the PathFinder system (Spinal Concept Inc., Austin, TX). The discrepancy between the planned and actual screw trajectories was measured by means of postprocedural CT scan. Overall, the four screws were implanted with an average deviation of 1.02 +/- 0.56 mm (range, 0-1.5 mm) from the surgeon's plan.

CONCLUSION

These preliminary results confirm the system's accuracy and support its use in minimally invasive spine surgery applications.

Accuracy Over Space and Time of Computer-Assisted Fluoroscopic Navigation in the Lumbar Spine In Vivo

OBJECTIVE

The integration of digital image-guided surgical navigation with C-arm fluoroscopy, known as virtual fluoroscopy (VF), has been shown to enhance the safety of spine surgery in vitro. Few clinical studies have assessed the accuracy of VF during actual spinal surgery, and no studies have investigated variations in accuracy over the course of a series of measurements obtained during operative cases. We sought to study the intraoperative accuracy of VF over time and space during lumbar pedicle screw placement in human patients.

METHODS

Fluoroscopic images of the lumbar spine were obtained, calibrated, and saved to the Stealth Station (FluoroNav) on seven patients undergoing lumbar fusion surgery. The tracking arc was attached to an exposed lumbar spinous process, which was designated the index level. With use of anatomic surface irregularities in the laminae and spinous processes, several points were identified and registered on three different vertebrae directly adjacent to the index level vertebra. Every 15 minutes, throughout the operative case, the probe was brought to each point and the apparent distance from the original location recorded (as measured by the FluoroNav system). Measurements were collected from three vertebral levels adjacent to the index level over a time course of 120 minutes during the operation.

RESULTS

At the index, index +1, index +2, and index +3 levels, 89%, 81%, 92%, and 64% of measurements were within <2 mm, whereas 97%, 96%, 97%, and 91% were within <3 mm, respectively. At 15, 30, 45, 60, 75, 90, 105, and 120 minutes, 96%, 89%, 85%, 61%, 85%, 90%, 93%, and 50% of measurements were within <2 mm, whereas 100%, 93%, 100%, 83%, 100%, 90%, 100%, and 100% of measurements were within <3 mm, respectively. The error in millimeters tended to increase as the distance from the index level increased (R = 0.19, P < 0.05) and as operative time increased (R = 0.26, P < 0.01). Calibration studies of intraoperative VF (IoVF) in the lumbar spine documented a reasonable degree of accuracy. The majority of sequential measurements obtained during IoVF in the lumbar spine were within an error range of <3 mm.

CONCLUSIONS

Our results suggest that the use of VF is a reliable method of verifying the use of anatomic and/or radiographic landmarks for guidance during lumbar pedicle screw placement.

Cervical pedicle screws: conventional versus computer-assisted placement of cannulated screws

STUDY DESIGN

Prospective clinical study with postoperative radiologic control of pedicle screw placement in the cervical spine.

OBJECTIVES

To evaluate whether cervical pedicle screws can be placed safely in a conventional technique when using cannulated screws and separate stab incisions. Also, to evaluate if accuracy and safety of pedicle screw placement can be improved using a computer-assisted surgery (CAS) system (VectorVision; BrainLAB AG, Heimstetten, Germany).

SUMMARY OF BACKGROUND DATA

Pedicle screws are rarely used in the cervical spine compared to the use in lumbar and thoracic spine. The main reason is probably the potential risk of iatrogenic damage to the spinal cord, nerve roots, or vertebral artery caused by screw misplacement as well as the more demanding technique of pedicle screw placement in the cervical spine.

METHODS

A total of 52 consecutive patients with posterior cervical or cervicothoracic instrumentations using pedicle screws were evaluated prospectively. For the first 20 patients, 93 pedicle screws were implanted using the conventional technique with the image intensifier in the lateral view, and for the next 32 patients (167 screws), a CAS system was additionally used. For registration of the vertebra, surface-matching algorithms were used. For evaluation of screw placement, postoperative computerized tomography with multiplanar reconstructions in the screw axis was performed for each screw.

RESULTS

No implant-related complications were observed. No neurologic or vascular complications were found related to pedicle screws. The rate of pedicle perforations was 8.6% (8 screws) in the conventional group and 3.0% (5 screws) in the CAS group, and in all cases, less than 2-mm displacement. None of the screws with pedicle perforation had to be revised as a result of nonsufficient biomechanical stability or compression of neural/vascular structures.

CONCLUSIONS

Transpedicular screws in the cervical spine and cervicothoracic junction can be applied safely and with high accuracy in a conventional technique. Cannulated screws and the use of separate stab incisions from C3-C6 with a trocar system allow for reduced screw misplacement rates. The CAS system leads to significantly reduced screw misplacement rates. Therefore, because of the potential risk of injury to the vertebral artery and neural elements, the use of a CAS system seems to be beneficial, especially for pedicle instrumentation C3-C6.

Image-guided thoracoscopic spinal surgery: a merging of 2 technologies

STUDY DESIGN

Retrospective clinical and intraoperative navigational data review.

OBJECTIVE

To evaluate quantitatively the application of frameless stereotactic image guidance in thoracoscopic discectomy procedures.

SUMMARY OF BACKGROUND DATA

Thoracoscopic spinal surgery has technical and anatomic challenges that result in difficult orientation with a 2-dimensional imaging procedure in a complex 3-dimensional structure.

METHODS

There were 16 patients who underwent image-guided thoracoscopic discectomy procedures that combine these 2 technologies. Accuracy was determined by the registration (calculated) error and actual navigation (intraoperative) error. The clinical outcomes and complications were reviewed.

RESULTS

Accuracy determined by registration (calculated) and navigation (intraoperative) was 1.7 and 1.2 mm, respectively. The additional time required for the image guidance portion of the procedure was countered by the efficiency of the remaining procedure. Clinical outcomes and complication were comparable with previous experience.

CONCLUSIONS

Image-guided thoracoscopic spinal surgery can provide 3-dimensional orientation to a 2-dimensional imaging procedure that ultimately improves accuracy, efficiency, and safety. Future developments in combining guidance technology with standard surgical procedures will likely continue.

Pedicle screw placement in the thoracic spine: a comparison of image-guided and manual techniques in cadavers

STUDY DESIGN

A cadaveric study comparing image guidance technology to fluoroscopic guidance as a means of pedicle screw placement in the thoracic spine, using a unique starting point for screw placement.

OBJECTIVE

To assess accuracy of thoracic pedicle screw placement using image guidance versus fluoroscopic guidance for screw insertion.

SUMMARY OF BACKGROUND DATA

While use of pedicle screws in the thoracic spine has been increasing, its adoption has been slower than for the lumbar spine, reflecting concern regarding possible vascular or spinal cord injury due to screw malplacement. Given these risks, efforts to improve the accuracy of thoracic pedicle screw placement remain appropriate. Stereotactic guidance has been applied in other aspects of spinal surgery to improve the accuracy of instrumentation placement.

METHODS

Pedicle screws were placed in the thoracic spines of eight cadavers, using either a stereotactic guidance or a manual, fluoroscopically guided technique. A slightly more superior and lateral starting point from prior descriptions was used. Each cadaver was instrumented with pedicle screws in the upper thoracic (T1-T2), middle thoracic (T4-T7), and lower thoracic (T9-T10) regions. In the upper and middle thoracic regions, screws with a 4.0-mm shank diameter were used while in the lower thoracic region a shank diameter of 4.5 mm was used. Postinstrumentation CT scans, followed by anatomic dissections, were used to evaluate screw exit rates and orientation relative to the pedicle axis. Exit rates for the two techniques and the effect of vertebral level on exit rate were compared using a chi analysis. The effect of pedicle diameter was tested using a Pearson correlation coefficient.

RESULTS

No significant differences in the overall exit rates or orientation were found between the two techniques. There were significant differences in exit rates between the middle (47%), compared with the upper (9%) and lower (16%) thoracic regions, respectively (P < 0.001). A significant correlation between pedicle diameter and exit rate was also found (P < 0.0001).

CONCLUSION

Our study showed no significant differences in the overall exit rates between the two techniques. Image guidance may increase confidence of surgeons with limited experience in thoracic pedicle screw placement. Successful placement of screws within the pedicle varies with the anatomic diameter of the pedicle itself. Concerns regarding accuracy of screw placement should be greatest in the middle thoracic vertebrae (T4-T7), where pedicle diameters are smallest and proximity of the great vessels is nearest.

Use of intraoperative isocentric C-arm 3D fluoroscopy for sextant percutaneous pedicle screw placement: case report and review of the literature

BACKGROUND CONTEXT

Three-dimensional (3D) fluoroscopy-based image guidance system using an isocentric C-arm (Iso-C) fluoroscope was shown to be as effective as computed tomography-based systems in guiding the accurate percutaneous placement of lumbar pedicle screws in cadavers. To date, however, no description is available of the intraoperative use of 3D fluoroscopy to guide lumbar pedicle screw placement in an actual spinal fusion procedure.

PURPOSE

We report a case in which isocentric 3D fluoroscopic images, along with image-guidance software, were used to guide the placement of percutaneous pedicle screws for fusion in a patient with degenerative spondylolisthesis.

STUDY DESIGN/SETTING

Operating room of a large academic medical center during the placement of percutaneous pedicle screws in a patient with degenerative spondylolisthesis.

METHODS

A percutaneous dynamic reference array was attached to the L3 spinous process. A satisfactory image set was obtained and automatically registered. The L4 and L5 pedicles were localized, and pedicle holes were then cannulated, drilled and tapped. A screw was then inserted using the Sextant system for percutaneous pedicle screws. In this manner, bilateral pedicle screws were inserted into the L4-L5 pedicles. All steps of pedicle cannulation were performed under Iso-C 3D image guidance.

RESULTS

A postoperative computed tomography scan showed accurate placement of all pedicle screws. The patient experienced an improvement in leg pain with no new neurologic deficits.

CONCLUSIONS

The present case is the first case to demonstrate the intraoperative use of a 3D fluoroscopy-based image-guidance system for accurate navigation during lumbar pedicle screw placement.

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.

Computer-assisted posterior instrumentation of the cervical and cervico-thoracic spine

Posterior instrumentation of the cervical spine has become increasingly popular in recent years. Dissatisfaction with lateral mass fixation, especially at the cervico-thoracic junction, has led spine surgeons to use pedicle screws. The improved biomechanical stability of pedicle screws and transarticular C1/2 screws allows for shorter instrumentations and improves the repositioning possibilities. Nevertheless, there are potential risks of iatrogenic damage to the spinal cord, nerve roots or the vertebral artery with both techniques. Therefore, the aim of this study was to evaluate whether C1/2 transarticular screws and transpedicular screws can be applied safely and with high accuracy in the cervical spine and the cervico-thoracic junction using a computer-assisted surgery system (CAS system). Posterior instrumentation was performed using the Brainlab VectorVision System (BrainLAB, Heimstetten, Germany) in 19 patients. Surface matching was used for registration. We placed 22 transarticular screws C1/2, 31 cervical pedicle screws, 10 high thoracic pedicle screws and one lateral mass screw C1. The screw position was evaluated postoperatively using CT with multiplanar reconstruction in the screw axis of each screw. None of the transarticular screws or pedicle screws was significantly (>2 mm) misplaced and no screw-related injury to vascular, neurogenic or bony structures was observed. No screw revision was necessary. The mean operation time was 144 min (90-240 min) and the mean blood loss was 234 ml (50-800 ml). C1/2 transarticular screws, as well as transpedicular screws in the cervical spine and the cervico-thoracic junction, can be applied safely and with high accuracy using a CAS system. Computer-assisted instrumentation is recommended especially for pedicle screws at C3-C6.

ISSLS prize winner: A novel approach to determine trunk muscle forces during flexion and extension: a comparison of data from an in vitro experiment and in vivo measurements

STUDY DESIGN

Disc pressure and fixator load were measured in an in vitro setup and compared to in vivo measurements with the identical transducers from the two groups participating in this study.

OBJECTIVES

The goal of this in vitro study was to determine the magnitude of trunk muscle forces during flexion and extension. The loading conditions in this study accounted for body weight, local and global muscles, and forces resulting from the support of the abdominal soft tissue in different postures. Resulting intersegmental motions and intradiscal pressure in each segment and the six load components in both rods of an internal fixator were determined.

SUMMARY OF BACKGROUND DATA

The spine is primarily stabilized by muscle forces, which greatly influence spinal loads. However, little information exists on the magnitudes of trunk muscle forces during postures like flexion and extension of the upper body.

METHODS

Seven human cadaveric lumbar spines were mounted in a spine tester and adjusted to different degrees of flexion and extension of the upper body with different hip flexions. For each specimen, a total of 124 load cases were studied. They included combinations of a vertical compressive load, a follower load and forces pulling with cables at a plate fixed at the cranial end of the specimen to simulate rectus abdominis, erector spinae, and a supporting force of the abdomen. The muscle forces were varied until the external moment, necessary to keep the lumbar spine specimen in the examined posture, was zero. This was achieved with different muscle force combinations. Loads on internal fixators as well as intradiscal pressure and intersegmental rotation at all levels were measured. The muscle force combination that caused intradiscal pressures and loads in the internal fixator closest to those measured in vivo were assumed to be the muscle forces which can be expected in vivo.

RESULTS

Generally, intradiscal pressure was closer to in vivo measurements than the fixator loads. The force in the m. erector spinae increased with the flexion angle but was only slightly influenced by extension. The estimated forces in the erector spinae were 100 N for standing, 130 N for 15 degrees extension, and 520 N for 30 degrees flexion of the upper body. Little influence was found on the intersegmental motion.

CONCLUSION

In vitro loading conditions can be approximated closely to in vivo conditions with the simulation of an axial preload, local, and global muscles. This novel approach can help to estimate muscle forces, which can usually not be measured. The results from this study provide important input for FEM models, which may then allow the investigation of different load cases.

Image-guided endoscopic spine surgery: Part II: clinical applications

STUDY DESIGN

Endoscopic spinal procedures were performed under computed-tomography-based, image-guided assistance.

OBJECTIVE

To assess the clinical feasibility of applying a methodology that allows image-guided assistance in endoscopic spinal surgery.

SUMMARY OF BACKGROUND DATA

Endoscopic spinal procedures have become a part of the minimal invasive approaches to the spine. The main disadvantage of these techniques is the long learning curve and the lack of peroperative monitoring. Fluoroscopy does have disadvantages, such as positioning during surgery and the risk for radiation exposure. Fluoroscopy-based navigation has many advantages, however it is still based on preselected fluoroscopic images. There is no method that allows computed-tomography-based navigation in endoscopic conditions.

METHODS

Two patients have been operated on using endoscopic approaches assisted by computed-tomography-based navigational system. One had a thoracoscopic approach for median calcified disc herniation and another one had an endoscopic posterior approach for resection of a sacro-iliac osteophyte. For each patient, a frame of reference had been placed percutaneously and scanned. The computed tomography images were registered to the anatomy using the geometry of the frame as fiducials. Navigation through endoscopic approaches was possible in both cases.

RESULTS

In both cases navigation was reliable and a helpful monitoring to achieve the surgical goals through endoscopic approaches.

CONCLUSIONS

There are some factors that make endoscopic spine surgery a difficult start. Image-guided spine surgery is technically feasible and clinically applicable in endoscopic approaches.

Automatic lumbar vertebral identification using surface-based registration

This work proposes the use of surface-based registration to automatically select a particular vertebra of interest during surgery. Manual selection of the correct vertebra can be a challenging task, especially for closed-back, minimally invasive procedures. Our method uses shape variations that exist among lumbar vertebrae to automatically determine the portion of the spinal column surface that correctly matches a set of physical vertebral points. In our experiments, we register vertebral points representing posterior elements of a single vertebra in physical space to spinal column surfaces extracted from computed tomography images of multiple vertebrae. After registering the set of physical points to each vertebral surface that is a potential match, we then compute the standard deviation of the surface error for each registration trial. The registration that corresponds to the lowest standard deviation designates the correct match. We have performed our current experiments on two plastic spine phantoms and two patients.

Accuracy requirements for image-guided spinal pedicle screw placement

STUDY DESIGN

Accuracy requirement analysis for image-guided pedicle screw placement.

OBJECTIVES

To derive theoretical accuracy requirements for image-guided spinal pedicle screw placement.

SUMMARY OF BACKGROUND DATA

Underlying causes of inaccuracy in image-guided surgical systems and methods for quantifying this inaccuracy have been studied. However, accuracy requirements for specific spinal surgical procedures have not been delineated. In particular, the accuracy requirements for image-guided spinal pedicle screw placement have not been previously reported.

METHODS

A geometric model was developed relating spinal pedicle anatomy to accuracy requirements for image-guided surgery. This model was used to derive error tolerances for pedicle screw placement when using clinically relevant screw diameters in the cervical (3.5 mm), thoracic (5.0 mm), and thoracolumbar spine (6.5 mm). The error tolerances were represented as the permissible rotational and translational deviations from the ideal screw trajectory that would avoid pedicle wall perforation. The relevant dimensions of the pedicle model were extracted from existing morphometric data.

RESULTS

As anticipated, accuracy requirements were greatest at spinal levels where the relevant screw diameter approximated the dimensions of the pedicle. These requirements were highest for T5, followed in descending order by T4, T7, T6, T3, T12, L1, T8, T11, C4, L2, C3, T10, C5, T2, T9, C6, L3, C2, T1, C7, L4, and L5. Maximum permissible translational/rotational error tolerances ranged from 0.0 mm/0.0 degrees at T5 to 3.8 mm/12.7 degrees at L5.

CONCLUSIONS

These results, obtained by mathematical analysis, demonstrate that extremely high accuracy is necessary to place pedicle screws at certain levels of the spine without perforating the pedicle wall. These accuracy requirements exceed the accuracy of current image-guided surgical systems, based on clinical utility errors reported in the literature. In actual use, however, these systems have been shown to improve the accuracy of pedicle screw placement. This dichotomy indicates that other factors, such as the surgeon's visual and tactile feedback, may be operative.

Computer assisted oral and maxillofacial surgery--a review and an assessment of technology

Advances in the basic scientific research within the field of computer assisted oral and maxillofacial surgery have enabled us to introduce features of these techniques into routine clinical practice. In order to simulate complex surgery with the aid of a computer, the diagnostic image data and especially various imaging modalities including computer tomography (CT), magnetic resonance imaging (MRI) and Ultrasound (US) must be arranged in relation to each other, thus enabling a rapid switching between the various modalities as well as the viewing of superimposed images. Segmenting techniques for the reconstruction of three-dimensional representations of soft and hard tissues are required. We must develop ergonomic and user friendly interactive methods for the surgeon, thus allowing for a precise and fast entry of the planned surgical procedure in the planning and simulation phase. During the surgical phase, instrument navigation tools offer the surgeon interactive support through operation guidance and control of potential dangers. This feature is already available today and within this article we present a review of the development of this rapidly evolving technique. Future intraoperative assistance takes the form of such passive tools for the support of intraoperative orientation as well as so-called 'tracking systems' (semi-active systems) which accompany and support the surgeons' work. The final form are robots which execute specific steps completely autonomously. The techniques of virtual reality and computer assisted surgery are increasingly important in their medical applications. Many applications are still being developed or are still in the form of a prototype. It is already clear, however, that developments in this area will have a considerable effect on a surgeon's routine work.

The use of pedicle-screw internal fixation for the operative treatment of spinal disorders

Pedicle screws have dramatically improved the outcomes of spinal reconstruction requiring spinal fusion. Short-segment surgical treatments based on the use of pedicle screws for the treatment of neoplastic, developmental, congenital, traumatic, and degenerative conditions have been proved to be practical, safe, and effective. The Funnel Technique provides a straightforward, direct, and inexpensive way to very safely apply pedicle screws in the cervical, thoracic, or lumbar spine. Carefully applied pedicle-screw fixation does not produce severe or frequent complications. Pedicle-screw fixation can be effectively and safely used wherever a vertebral pedicle can accommodate a pedicle screw--that is, in the cervical, thoracic, or lumbar spine. Training in pedicle-screw application should be standard in orthopaedic training programs since pedicle-screw fixation represents the so-called gold standard of spinal internal fixation.

Computer-assisted fluoroscopic targeting system for pedicle screw insertion

OBJECTIVE

Biplanar fluoroscopic imaging linked to a computer-driven mechanical end-effector is under development as a targeting system for spinal surgery. This technology has the potential to enhance standard intraoperative fluoroscopic information for localization of the pedicle entry point and trajectory, and it may be an effective alternative to the computed tomography-based image-guided system (IGS) in pedicle screw placement. A preclinical study to assess the accuracy and time efficiency of this system versus a conventional IGS was conducted.

METHODS

Pedicle screw placement was performed in six cadavers from T1 to S1 levels using the ViewPoint IGS (Picker International, Inc., Cleveland, OH) on one side versus the Fluorotactic guidance system (Z-Kat, Inc., Miami, FL) on the other side. Of 216 possible pedicles, 208 were instrumented; 8 pedicle diameters were too small or were not adequately imaged. Postinsertion, each pedicle was assessed for the presence and location of cortical perforation using computed tomographic scanning and direct visualization.

RESULTS

The number of successful screw placements was 89 (87.3%) of 102 for IGS and 87 (82.1 %) of 106 for the Fluorotactic guidance system, respectively. The mean time to register and operate on one level using the Fluorotactic guidance system was 14:34 minutes (minutes:seconds), compared with 6:50 minutes using the IGS. The average fluoroscope time was 4.6 seconds per pedicle.

CONCLUSION

Our data indicate that this first-generation fluoroscopy-based targeting system can significantly assist the surgeon in pedicle screw placement. The overall accuracy is comparable to an IGS, especially in the region of T9-L5. A second-generation system with a faster end-effector and user-friendly interface should significantly reduce the operating and fluoroscope time.

Comparative results between conventional and computer-assisted pedicle screw installation in the thoracic, lumbar, and sacral spine

STUDY DESIGN

A comparative study on the position of pedicle screws in patients treated surgically with and without computer assistance.

OBJECTIVES

To evaluate the accuracy of computer-assisted pedicle screw installation, and to evaluate its clinical benefit as compared with conventional pedicle screw installation techniques.

SUMMARY OF BACKGROUND DATA

In vitro and clinical studies have documented a significant rate of misplaced screws in the thoracolumbar area. Neurologic complications are recognized problems caused by screw misplacement.

METHODS

Patients treated surgically with computer assistance were compared with a historical control group of patients treated surgically with conventional techniques in the same hospital and by the same surgical team. All screw positions were measured with a postoperative magnetic resonance tomography, and cortical effractions were categorized in 2-mm increments. Patients' charts also were reviewed to assess individual neurologic outcomes.

RESULTS

The control cohort was composed of 100 patients, with 544 screws from T5 to S1. The computer-assisted cohort was composed of 50 patients, with 294 screws from T2 to S1. In the control cohort, 461 of 544 screws (85%) were found completely within their pedicles as compared with 278 of 294 screws (95%) correctly placed in the computer-assisted group (P < 0.0001). All 16 screws incorrectly placed with computer assistance were found 0.1 mm to 2 mm from the pedicle cortex. In the control cohort, 68 screws were found 0.1 mm to 2 mm, 10 screws 2.1 mm to 4 mm, and 5 screws more than 4 mm from the pedicle cortex. Seven patients in the control cohort were surgically retreated because of postoperative neurologic deficits, whereas no patients in the computer-assisted group were surgically retreated.

CONCLUSIONS

Computer assistance can decrease the incidence of incorrectly positioned pedicle screws.