Computer-assisted correction of cam-type femoroacetabular impingement: a Sawbones study

Three-dimensional analysis of age and sex differences in femoral head asphericity in asymptomatic hips in the United States

BACKGROUND

The sphericity of the femoral head is a metric used to evaluate hip pathologies and is associated with the development of osteoarthritis and femoral-acetabular impingement.

AIM

To analyze the three-dimensional asphericity of the femoral head of asymptomatic pediatric hips. We hypothesized that femoral head asphericity will vary significantly between male and female pediatric hips and increase with age in both sexes.

METHODS

Computed tomography scans were obtained on 158 children and adolescents from a single institution in the United States (8-18 years; 50% male) without hip pain. Proximal femoral measurements including the femoral head diameter, femoral head volume, residual volume, asphericity index, and local diameter difference were used to evaluate femoral head sphericity.

RESULTS

In both sexes, the residual volume increased by age (P < 0.05). Despite significantly smaller femoral head size in older ages (> 13 years) in females, there were no sex-differences in residual volume and aspherity index. There were no age-related changes in mean diameter difference in both sexes (P = 0.07) with no significant sex-differences across different age groups (P = 0.06). In contrast, there were significant increases in local aspherity (maximum diameter difference) across whole surface of the femoral head and all quadrants except the inferior regions in males (P = 0.03). There were no sex-differences in maximum diameter difference at any regions and age group (P > 0.05). Increased alpha angle was only correlated to increased mean diameter difference across overall surface of the femoral head (P = 0.024).

CONCLUSION

There is a substantial localized asphericity in asymptomatic hips which increases with age in. While 2D measured alpha angle can capture overall asphericity of the femoral head, it may not be sensitive enough to represent regional asphericity patterns.

Computer-Assisted Arthroscopic Cam Resection

Determining the appropriate femoral cam resection during hip arthroscopy for femoroacetabular impingement syndrome is both critical for the patient and challenging for the surgeon. Incomplete bone resection is a leading cause of failed hip arthroscopy, whereas over-resection may increase the risk of femoral neck fracture. The alpha angle is a validated 2-dimensional radiographic measurement used to both diagnose femoroacetabular impingement syndrome preoperatively and to determine resection adequacy postoperatively. Computer-assisted intraoperative guidance systems enhance the accuracy of femoral cam resection, although a preoperative 3-dimensional computed tomography scan may be required. Other systems, such as the HipCheck software (Stryker, Kalamazoo, MI), have been developed to provide intraoperative guidance with live feedback using simultaneous alpha angle measurements overlayed on fluoroscopic images without the requirement for routine preoperative computed tomography. Via intraoperative touchscreen navigation, the surgeon identifies the midpoint of the femoral neck and femoral head. A commercial software program provides real-time alpha angle measurements, as well as enhanced visualization of the femoral cam deformity with an adjustable resection curve. Before the surgeon performs the cam resection, the software provides a template for appropriate resection depth in 6 positions of the hip. Upon completion of the femoral cam resection, the hip is again assessed in the same 6 positions and the alpha angle is assessed to ensure a complete resection.

Pre- and intraoperative decision-making challenges in hip arthroscopy for femoroacetabular impingement

There has been a marked increase in the number of hip arthroscopies performed over the past 16 years, primarily in the management of femoroacetabular impingement (FAI). Insights into the pathoanatomy of FAI, and high-level evidence supporting the clinical effectiveness of arthroscopy in the management of FAI, have fuelled this trend. Arthroscopic management of labral tears with repair may have superior results compared with debridement, and there is now emerging evidence to support reconstructive options where repair is not possible. In situations where an interportal capsulotomy is performed to facilitate access, data now support closure of the capsule in selective cases where there is an increased risk of postoperative instability. Preoperative planning is an integral component of bony corrective surgery in FAI, and this has evolved to include computer-planned resection. However, the benefit of this remains controversial. Hip instability is now widely accepted, and diagnostic criteria and treatment are becoming increasingly refined. Instability can also be present with FAI or develop as a result of FAI treatment. In this annotation, we outline major current controversies relating to decision-making in hip arthroscopy for FAI. Cite this article: Bone Joint J 2022;104-B(5):532-540.

Accuracy of Computer Navigation-Assisted Arthroscopic Osteochondroplasty for Cam-Type Femoroacetabular Impingement Using the Model-to-Image Registration Method

BACKGROUND

Precise osteochondroplasty is important in arthroscopic hip surgery for cam-type femoroacetabular impingement (FAI). Although computer-assisted surgery with a navigation system may enhance the accuracy of arthroscopic osteochondroplasty, few clinical studies have assessed its accuracy.

PURPOSE

To evaluate the accuracy of arthroscopic osteochondroplasty by a computed tomography (CT)-based navigation system for cam-type FAI, using 3-dimensional (3D) reconstruction with more detail compared with previous methods.

STUDY DESIGN

Case series; Level of evidence, 4.

METHODS

Twenty patients (14 men and 6 women) who underwent navigation-assisted arthroscopic surgery for cam-type FAI were included. The preoperative 3D model of the femur was constructed from each patient's CT data, and a planned model with virtual cam resection was generated. A femoral model was reconstructed from CT data postoperatively. The 3 models for each patient were overlaid using a 3D model registration method. Then, the contours of the bone resection area of each model were compared by measuring them. To measure the deviation between planned and actual bone resections, 4 cross-sectional images of the 3 femoral models were set at one-quarter intervals from the femoral head radius. All measurements were based on clockface lines set around the femoral neck axis at 30-minute intervals. Differences between the planned and postoperative contour lines were deemed resection deviations.

RESULTS

All cam resections were performed in the anterior half of the region of interest. Therefore, only the anterior half (48 points) of the 96 points per case were analyzed. In 876 (91.3%) points of the total measurement points (960 points/20 cases), the error in resection depth was within 3 mm. Overresection was observed at 35 (3.6%) points and underresection at 49 (5.1%) points. The observed maximum deviations from the planned models were 6.3 mm overresection and -7.1 mm underresection. The alpha angles of the postoperative model at the posterior 9- to 3-o'clock position were <55° in all patients.

CONCLUSION

Navigation-assisted arthroscopic osteochondroplasty showed favorable accuracy. Underresection was more frequent than overresection on the anterosuperior side of the femur, despite assistance of the navigation system.

Intraoperative Computer Vision Integrated Interactive Fluoroscopy Correlates With Successful Femoroplasty on Clinic-Based Radiographs

PURPOSE

To quantitatively evaluate computer vision interface (CVI)-guided femoroplasty in the arthroscopic treatment of femoroacetabular impingement syndrome and compare those results with traditional unguided resections.

METHODS

Consecutive patients undergoing hip arthroscopy for femoroacetabular impingement syndrome between July 2019 and October 2019 were evaluated. Cases with CVI were identified along with controls, consisting of patients from the same study period who underwent surgery without the CVI and were balanced for age, sex, laterality, and preoperative alpha angles. Alpha angles were measured on pre- and postoperative clinic radiographs, as well as intraoperatively for the CVI group. Cam resections were quantified by measuring pre- and postresection alpha angles and compared between groups. The correlation between CVI views and office-based radiographs was assessed, and the 3 CVI views that best correlated with each of the 3 standard clinic radiographs were evaluated for accuracy and performance in detection of cam deformity with alpha angle ≥48° with the clinic-based films as the reference.

RESULTS

A total of 49 patients (51 hips) (average age, 28.7; 33 female patients) in the CVI group, and 51 patients (51 hips) (average age: 29.9; 35 female patients) in the control group. There were no significant differences between groups with respect to age, sex, laterality, or preoperative alpha angle (all P > .05). Significant alpha angle reduction occurred on all intraoperative and postoperative clinic views (all P < .01). The CVI views that best correlated with the clinic radiographs were 11:45 with the anteroposterior (ρ = 0.588, P = .0025), 12:30 with the Dunn lateral (ρ = 0.632, P = .0009), and 1:45 with the false-profile (ρ = 0.575, P = .0033). Greater reliability was observed with 12:30/Dunn (accuracy = 83.33%, P < .0001; sensitivity = 77.14%; specificity = 87.76%) and 1:45/false-profile (accuracy = 82.35%, P = .0051; sensitivity = 81.82%; specificity = 82.61%) than with 11:45/anteroposterior (accuracy = 69.15%, P = .0077; sensitivity = 56.10%; specificity = 79.25%).

CONCLUSIONS

CVI-guided cam resection results in successful resection of proximal femur cam lesions and represents a femoroplasty templating method that does not require preoperative computed tomography imaging or additional invasive intraoperative referencing modules. The accuracy and adequacy of this resection was validated by comparison with routine clinic radiographs.

LEVEL OF EVIDENCE

Therapeutic Level III: retrospective comparative analysis.

Intraoperative Guidance for the Surgical Correction of Cam Deformities Using Hip Arthroscopy Based on Alpha Angle Measurement

Residual femoroacetabular impingement syndrome due to incomplete resection of a cam deformity is the leading cause of failed hip arthroscopy. The reliability of the alpha angle has been shown for quantifying cam deformities in femoroacetabular impingement syndrome. An intraoperative navigation tool that provides the ability to compare alpha angle measurements side by side on pre- and post-resection fluoroscopic images has recently been introduced. This tool uses fluoroscopic images obtained in 6 different hip positions. The reliability of these standardized hip positions has been shown by correlation with computed tomography in localization and visualization of cam deformities. The purpose of this Technical Note is to give technical tips about the application of this tool.

Application of three dimensional printing in surgery for cam type of femoro-acetabular impingement

Surgical treatment of femoroacetabular impingement (FAI) focuses on improving the clearance for hip motion and alleviation of femoral abutment against the acetabular rim. Cam type of impingement is managed by performing an osteochondroplasty to remove the excess impinging bone from the head neck junction, thus improving the head neck offset. This procedure can be done by safe surgical dislocation, arthroscopy assisted mini-open method or all arthroscopy technique. Whatever be the approach, adequate excision of the Cam deformity is necessary to avoid suboptimal results. Under-excision leads to persistent symptoms and progression of disease, while over-excision can lead to weak bone vulnerable to fracture or disturb the labral seal. Various techniques utilized for intra-operative evaluation of amount of excision required described in literature are fluoroscopy, spherometer gauges, intra-operative Computed Tomography (CT) scan, navigation etc. Rapid prototyping, also called as three dimensional (3D) printing, is a technology to create dimensionally accurate model from a computer-assisted design. Accurate physical models can be designed from the medical imaging data like CT scans and 3D printed to aid in various medical applications. Its application in orthopaedic field is on a rise, recently. However, there is no report on utilization of this technique in surgeries for FAI. We have reported a case of Cam type FAI in an eighteen year old boy, which we treated surgically by performing osteochondroplasty using safe surgical dislocation. We did CT based virtual surgical planning to design femoral head and neck jigs, which were 3D printed and used intra-operatively to guide for adequate and optimum excision of bone at head neck junction. We found these customized jigs accurate and useful for the surgery. However, a comparison study with various other techniques is warranted for a detailed research on its usefulness and challenges. The main purpose of this article is to elaborate on the technical steps for designing of jigs for 3D printing to guide in osteochondroplasty surgery for FAI.

Accuracy of navigated cam resection in femoroacetabular impingement: A randomised controlled trial

BACKGROUND

The main cause for revision hip arthroscopy surgery is incomplete bony resection of femoroacetabular impingement (FAI). This study aimed to compare the cam resection accuracy via the conventional hip arthroscopy technique with the navigation technique.

METHODS

Two prospectively randomized groups were recruited: navigated (n = 15) and conventional (n = 14). A pre-operative CT and post-operative MRI scan were obtained in all cases to compare alpha angle, range of motion simulation and determine a pre-operative 3D surgical resection plan.

RESULTS

Post-operatively, the mean maximal alpha angle improved significantly in the navigated group compared with the conventional group (55°vs.66°; P = 0.023), especially in the 12 o' clock position (45°vs.60°; P = 0.041). However, positioning time and radiation exposure were significantly longer in the navigated group.

CONCLUSION

Navigated surgery is effective for patients with cam type FAI in helping restore normal anatomy, however, not without drawbacks. Larger studies will be required to validate our results.

Three-dimensional Imaging and Computer Navigation in Planning for Hip Preservation Surgery

Hip preservation surgery is performed to address femoroacetabular impingement, alleviate any associated pain, and reduce the risk of early onset of osteoarthritis. In the last decade, arthroscopy has become more popular in addressing femoroacetabular impingement, due to its minimally invasive approach. However, poor visualization and limited spatial awareness of the joint make arthroscopy of the hip difficult, resulting in a steep learning curve. This paper reviews the utility and benefits of 3-dimensional imaging and computer navigation and what these tools may add to the preoperative planning stages of hip preservation surgery.

Robotic-assisted femoral osteochondroplasty is more precise than a freehand technique in a Sawbone model

Robotic-assistance has the potential to improve the accuracy of bony resections, when performing femoral osteochondroplasty in the treatment of cam-type femoroacetabular impingement (FAI). The purpose of this study was to determine the accuracy of robotic-assisted femoral osteochondroplasty and compare this to a conventional open, freehand technique. We hypothesized that robotic-assistance would increase the accuracy of femoral head-neck offset correction in cam FAI. Sixteen identical sawbones models with a cam-type impingement deformity were resected by a single surgeon, simulating an open femoral osteochondroplasty. Eight procedures were performed using an open freehand technique and eight were performed using robotic-assistance, through the creation of a three-dimensional haptic volume. A desired arc of resection of 117.7° was determined pre-operatively using an anatomic plan. Post-resection, all 16 sawbones were laser scanned to measure the arc of resection, volume of bone removed and depth of resection. For each sawbone, these measurements were compared with the pre-operatively planned desired resection, to determine the resection error. Freehand resection resulted in a mean arc of resection error of 42.0 ± 8.5° compared with robotic-assisted resection which had a mean arc of resection error of 1.2 ± 0.7° (P < 0.0001). Over-resection occurred with every freehand resection with a mean volume error of 758.3 ± 477.1 mm³ compared with a mean robotic-assisted resection volume error of 31.3 ± 220.7 mm³ (P < 0.01). This study has shown that robotic-assisted femoral osteochondroplasty in the treatment of cam-type FAI is more accurate than a conventional, freehand technique, which are currently in widespread use.

Statistical shape modeling of cam femoroacetabular impingement

Statistical shape modeling (SSM) was used to quantify 3D variation and morphologic differences between femurs with and without cam femoroacetabular impingement (FAI). 3D surfaces were generated from CT scans of femurs from 41 controls and 30 cam FAI patients. SSM correspondence particles were optimally positioned on each surface using a gradient descent energy function. Mean shapes for groups were defined. Morphological differences between group mean shapes and between the control mean and individual patients were calculated. Principal component analysis described anatomical variation. Among all femurs, the first six modes (or principal components) captured significant variations, which comprised 84% of cumulative variation. The first two modes, which described trochanteric height and femoral neck width, were significantly different between groups. The mean cam femur shape protruded above the control mean by a maximum of 3.3 mm with sustained protrusions of 2.5-3.0 mm along the anterolateral head-neck junction/distal anterior neck. SSM described variations in femoral morphology that corresponded well with areas prone to damage. Shape variation described by the first two modes may facilitate objective characterization of cam FAI deformities; variation beyond may be inherent population variance. SSM could characterize disease severity and guide surgical resection of bone.

Pullout strength of bone-patellar tendon-bone allograft bone plugs: a comparison of cadaver tibia and rigid polyurethane foam

PURPOSE

To compare the load-to-failure pullout strength of bone-patellar tendon-bone (BPTB) allografts in human cadaver tibias and rigid polyurethane foam blocks.

METHODS

Twenty BPTB allografts were trimmed creating 25 mm × 10 mm × 10 mm tibial plugs. Ten-millimeter tunnels were drilled in 10 human cadaver tibias and 10 rigid polyurethane foam blocks. The BPTB anterior cruciate ligament allografts were inserted into these tunnels and secured with metal interference screws, with placement of 10 of each type in each material. After preloading (10 N), cyclic loading (500 cycles, 10 to 150 N at 200 mm/min) and load-to-failure testing (200 mm/min) were performed. The endpoints were ultimate failure load, cyclic loading elongation, and failure mode.

RESULTS

No difference in ultimate failure load existed between grafts inserted into rigid polyurethane foam blocks (705 N) and those in cadaver tibias (669 N) (P = .69). The mean rigid polyurethane foam block elongation (0.211 mm) was less than that in tibial bone (0.470 mm) (P = .038), with a smaller standard deviation (0.07 mm for foam) than tibial bone (0.34 mm).

CONCLUSIONS

All BPTB grafts successfully completed 500 cycles. The rigid polyurethane foam block showed less variation in test results than human cadaver tibias.

CLINICAL RELEVANCE

Rigid polyurethane foam blocks provide an acceptable substitute for human cadaver bone tibia for biomechanical testing of BPTB allografts and offer near-equivalent results.

Femur-mounted navigation system for the arthroscopic treatment of femoroacetabular impingement

Femoroacetabular impingement stems from an abnormal shape of the acetabulum and proximal femur. It is treated by resection of damaged soft tissue and by the shaping of bone to resemble normal features. The arthroscopic treatment of femoroacetabular impingement has many advantages, including minimal incisions, rapid recovery, and less pain. However, in some cases, revision is needed owing to the insufficient resection of damaged bone from a misreading of the surgical site. The limited view of arthroscopy is the major reason for the complications. In this research, a navigation method for the arthroscopic treatment of femoroacetabular impingement is developed. The proposed navigation system consists of femur attachable measurement device and user interface. The bone mounted measurement devices measure points on head-neck junction for registration and position of surgical instrument. User interface shows the three-dimensional model of patient's femur and surgical instrument position that is tracked by measurement device. Surgeon can know the three-dimensional anatomical structure of hip joint and surgical instrument position on surgical site using navigation system. Surface registration was used to obtain relation between patient's coordinate at the surgical site and coordinate of three-dimensional model of femur. In this research, we evaluated the proposed navigation system using plastic model bone. It is expected that the surgical tool tracking position accuracy will be less than 1 mm.

Three-dimensional quantification of femoral head shape in controls and patients with cam-type femoroacetabular impingement

An objective measurement technique to quantify 3D femoral head shape was developed and applied to normal subjects and patients with cam-type femoroacetabular impingement (FAI). 3D reconstructions were made from high-resolution CT images of 15 cam and 15 control femurs. Femoral heads were fit to ideal geometries consisting of rotational conchoids and spheres. Geometric similarity between native femoral heads and ideal shapes was quantified. The maximum distance native femoral heads protruded above ideal shapes and the protrusion area were measured. Conchoids provided a significantly better fit to native femoral head geometry than spheres for both groups. Cam-type FAI femurs had significantly greater maximum deviations (4.99 ± 0.39 mm and 4.08 ± 0.37 mm) than controls (2.41 ± 0.31 mm and 1.75 ± 0.30 mm) when fit to spheres or conchoids, respectively. The area of native femoral heads protruding above ideal shapes was significantly larger in controls when a lower threshold of 0.1 mm (for spheres) and 0.01 mm (for conchoids) was used to define a protrusion. The 3D measurement technique described herein could supplement measurements of radiographs in the diagnosis of cam-type FAI. Deviations up to 2.5 mm from ideal shapes can be expected in normal femurs while deviations of 4-5 mm are characteristic of cam-type FAI.

Hip arthroscopy: the use of computer assistance

BACKGROUND

Hip arthroscopy is rapidly becoming the mainstay of treatment for femoroacetabular impingement (FAI), but remains technically demanding and has its limitations. The failures of arthroscopic FAI surgery due to inaccurate and inadequate resection are reported to be increasing. Computer-assisted surgery (CAS) can theoretically improve the accuracy and precision of the osseous resections required to treat FAI. It does so by providing a preoperative assessment tool, an intraoperative tracking device, and a robotic-assisted cutting instrument.

QUESTIONS/PURPOSES

The purpose of this review is to discuss the evolution of CAS to address the current limitations of arthroscopic FAI surgery and propose the features required of the ideal CAS solution for FAI.

METHODS

A computerized keyword search of MEDLINE was performed for studies that investigated the use of computer assistance in FAI surgery. Data was collected on preoperative assessment tools, intraoperative navigation programs, and robotic-assisted execution of FAI surgery.

RESULTS

Sixty-one articles were identified after the keyword search. Nineteen studies met our inclusion criteria. Thirteen studies were selected to address our study questions: three studies were analyzed for preoperative planning, six for navigated osseous resection, and four for robotic-assisted execution.

CONCLUSION

Navigation and robotic-assisted surgery can preoperatively plan and execute osseous resection with greater accuracy compared to freehand techniques, although the clinical success and cost-effectiveness has yet to be demonstrated. The ideal CAS solution must be able to virtually plan a resection, guide the surgeon towards accurate execution of the plan, and facilitate post-resection assessment of the adequacy of resection.

Imageless versus image-based registration in navigated arthroscopy of the hip: a cadaver-based assessment

The aim of this study was to determine the accuracy of registration and the precision of the resection volume in navigated hip arthroscopy for cam-type femoroacetabular impingement, using imageless and image-based registration. A virtual cam lesion was defined in 12 paired cadaver hips and randomly assigned to either imageless or image-based (three-dimensional (3D) fluoroscopy) navigated arthroscopic head-neck osteochondroplasty. The accuracy of patient-image registration for both protocols was evaluated and post-operative imaging was performed to evaluate the accuracy of the surgical resection. We found that the estimated accuracy of imageless registration in the arthroscopic setting was poor, with a mean error of 5.6 mm (standard deviation (sd) 4.08; 95% confidence interval (CI) 4.14 to 7.19). Because of the significant mismatch between the actual position of the probe during surgery and the position of that probe as displayed on the navigation platform screen, navigated femoral osteochondroplasty was physically impossible. The estimated accuracy of image-based registration by means of 3D fluoroscopy had a mean error of 0.8 mm (sd 0.51; 95% CI 0.56 to 0.94). In terms of the volume of bony resection, a mean of 17% (sd 11; -6% to 28%) more bone was resected than with the virtual plan (p = 0.02). The resection was a mean of 1 mm deeper (sd 0.7; -0.3 to 1.6) larger than on the original virtual plan (p = 0.02). In conclusion, given the limited femoral surface that can be reached and digitised during arthroscopy of the hip, imageless registration is inaccurate and does not allow for reliable surgical navigation. However, image-based registration does acceptably allow for guided femoral osteochondroplasty in the arthroscopic management of femoroacetabular impingement.