Personalized alignment techniques better restore the native trochlear groove compared to systematic alignment techniques in total knee arthroplasty

PURPOSE

The relationship between constitutional coronal alignment and implant positioning on trochlear groove restoration in total knee arthroplasty (TKA) is poorly understood. This study aimed to determine whether the choice of alignment philosophy significantly affects the restoration of the trochlea groove.

METHODS

Sixty-one imageless robotic TKAs performed by a single orthopaedic surgeon were retrospectively reviewed. In each case, the entire native trochlea was digitized to generate the native femoral anatomy, and implants were planned according to a functional alignment (FA) technique. Final implant position was recorded using the validated bone resection planes from the navigation system. Simulated femoral component positions were generated according to previously described alignment techniques: mechanical alignment (MA), gap balancing (GB), kinematic alignment (KA), restricted kinematic alignment (rKA) and restricted inverse kinematic alignment (riKA). Trochlear angle (TA), trochlear under/overstuffing and mediolateral sulcus offset were compared between the six simulated alignment techniques, as well as the final implanted technique. Further analyses investigated the effect of preoperative coronal alignment on trochlear position. Comparisons were assessed with an analysis of variance and Welch's t-tests or Wilcoxon's rank-sum tests with Bonferroni corrections.

RESULTS

The implanted and simulated techniques all resulted in greater TA valgus compared to the native groove (p < 0.001). The implanted technique, KA and rKA were closer to the native TA than GB, MA and riKA (p > 0.001). All alignment philosophies understuffed the native trochlea groove. KA and rKA understuffed less than all other techniques (p < 0.001), and GB understuffed more than all other techniques (p < 0.001). In extension, all techniques shifted the trochlear sulcus laterally, while in flexion, they medialized it. These effects were most prominent in GB and MA.

CONCLUSION

Personalized alignment techniques such as KA and rKA, which consider variations in individual anatomy, best restore the native patellar groove compared to systematic alignment techniques when using a standardized femoral component.

LEVEL OF EVIDENCE

Level III, retrospective review.

Widening of tibial resection boundaries increases the rate of femoral component valgus and internal rotation in functionally aligned TKA

PURPOSE

The purpose of this study was to investigate the influence of increasing the tibial boundaries in functional alignment on femoral component orientation in total knee arthroplasty (TKA).

METHODS

A retrospective review of a database of robotic-assisted TKAs using a digital joint tensioning device was performed (BalanceBot®; Corin). A total of 692 TKAs with correctable deformity were included. Functional alignment with a tibia-first balancing technique was simulated by performing an anatomic tibial resection to recreate the native medial proximal tibial angle within certain boundaries (A, 87-90°; B, 86-90°; C, 84-92°), while accounting for wear. After balancing the knee, the resulting amount of femoral component outliers in the coronal and axial plane was calculated for each group and correlated to the coronal plane alignment of the knee (CPAK) classification.

RESULTS

The proportion of knees with high femoral component varus (>96°) or valgus (<87°) alignment increased from 24.5% (n = 170) in group A to 26.5% (n = 183) in group B and 34.2% (n = 237) in group C (p < 0.05). Similarly, more knees with high femoral component external rotation (>6°) or internal rotation (>3°) were identified in group C (33.4%, n = 231) than in group B (23.7%, n = 164) and A (18.4%, n = 127) (p < 0.05). There was a statistically significant (p < 0.01) overall increase in knees with both femoral component valgus <87° and internal rotation >3° from group A (4.0%, n = 28) to B (7.7%, n = 53) and C (15.8%, n = 109), with CPAK type I and II showing a 12.9- and 2.9-fold increase, respectively.

CONCLUSION

Extending the tibial boundaries when using functional alignment with a tibia-first balancing technique in TKA leads to a statistically significant higher percentage of knees with a valgus lateral distal femoral angle < 87° and >3° internal rotation of the femoral component, especially in CPAK type I and II.

LEVEL OF EVIDENCE

Level IV.

Imageless robotic total knee arthroplasty determines similar coronal plane alignment of the knee (CPAK) parameters to long leg radiographs

BACKGROUND

The coronal plane alignment of the knee (CPAK) classification was first developed using long leg radiographs (LLR) and has since been reported using image-based and imageless robotic total knee arthroplasty (TKA) systems. However, the correspondence between imageless robotics and LLR-derived CPAK parameters has yet to be investigated. This study therefore examined the differences in CPAK parameters determined with LLR and imageless robotic navigation using either generic or optimized cartilage wear assumptions.

METHODS

Medial proximal tibial angle (MPTA) and lateral distal femoral angle (LDFA) were determined from the intraoperative registration data of 61 imageless robotic TKAs using either a generic 2 mm literature-based wear assumption (Navlit) or an optimized wear assumption (Navopt) found using an error minimization algorithm. MPTA and LDFA were also measured from preoperative LLR by two observers and intraclass correlation coefficients (ICCs) were calculated. MPTA, LDFA, joint line obliquity (JLO), and arithmetic hip-knee-ankle angle (aHKA) were compared between the robotic and the average LLR measurements over the two observers.

RESULTS

ICCs between observers for LLR were over 0.95 for MPTA, LDFA, JLO, and aHKA, indicating excellent agreement. Mean CPAK differences were not significant between LLR and Navlit (all differences within 0.6°, P > 0.1) or Navopt (all within 0.1°, P > 0.83). Mean absolute errors (MAE) between LLR and Navlit were: LDFA = 1.4°, MPTA = 2.0°, JLO = 2.1°, and aHKA = 2.7°. Compared to LLR, the generic wear classified 88% and the optimized wear classified 94% of knees within one CPAK group. Bland-Altman comparisons reported good agreement for LLR vs. Navlit and Navopt, with > 95% and > 91.8% of measurements within the limits of agreement across all CPAK parameters, respectively.

CONCLUSIONS

Imageless robotic navigation data can be used to calculate CPAK parameters for arthritic knees undergoing TKA with good agreement to LLR. Generic wear assumptions determined MPTA and LDFA with MAE within 2° and optimizing wear assumptions showed negligible improvement.

Excessive posterior pelvic tilt from preoperative supine to postoperative standing after total hip arthroplasty

Aims

Excessive posterior pelvic tilt (PT) may increase the risk of anterior instability after total hip arthroplasty (THA). The aim of this study was to investigate the changes in PT occurring from the preoperative supine to postoperative standing position following THA, and identify factors associated with significant changes in PT.

Methods

Supine PT was measured on preoperative CT scans and standing PT was measured on preoperative and one-year postoperative standing lateral radiographs in 933 patients who underwent primary THA. Negative values indicate posterior PT. Patients with > 13° of posterior PT from preoperative supine to postoperative standing (ΔPT ≤ -13°) radiographs, which corresponds to approximately a 10° increase in functional anteversion of the acetabular component, were compared with patients with less change (ΔPT > -13°). Logistic regression analysis was used to assess preoperative demographic and spinopelvic parameters predictive of PT changes of ≤ -13°. The area under receiver operating characteristic curve (AUC) determined the diagnostic accuracy of the predictive factors.

Results

PT changed from a mean of 3.8° (SD 6.0°)) preoperatively to -3.5° (SD 6.9°) postoperatively, a mean change of -7.4 (SD 4.5°; p < 0.001). A total of 95 patients (10.2%) had ≤ -13° change in PT from preoperative supine to postoperative standing. The strongest predictive preoperative factors of large changes in PT (≤ -13°) from preoperative supine to postoperative standing were a large posterior change in PT from supine to standing, increased supine PT, and decreased standing PT (p < 0.001). Flexed-seated PT (p = 0.006) and female sex (p = 0.045) were weaker significant predictive factors. When including all predictive factors, the accuracy of the AUC prediction was 84.9%, with 83.5% sensitivity and 71.2% specificity.

Conclusion

A total of 10% of patients had > 13° of posterior PT postoperatively compared with their supine pelvic position, resulting in an increased functional anteversion of > 10°. The strongest predictive factors of changes in postoperative PT were the preoperative supine-to-standing differences, the anterior supine PT, and the posterior standing PT. Surgeons who introduce the acetabular component with the patient supine using an anterior approach should be aware of the potentially large increase in functional anteversion occurring in these patients.

Evaluating computed bony range of motion (BROM) by registering in-vitro cadaver-based functional range of motion (FROM) to a hip motion simulation

BACKGROUND

While modern hip replacement planning relies on hip motion simulation (HMS), it lacks the capability to include soft-tissues and ligaments restraints on computed bony range of motion (BROM), often leading to an overestimation of the in-vivo functional range of motion (FROM). Furthermore, there is a lack of literature on BROM assessment in relation to FROM. Therefore, the study aimed to assess computed BROM using in-vitro cadaver-derived FROM measurements, registered to a CT-based in-house HMS, and to further investigate the effect of functional and anatomical hip joint centres (FHJC and AHJC) on BROM.

METHOD

Seven limiting and three non-limiting circumducted passive FROM of four cadaver hips were measured using optical coordinate measuring machine with reference spheres (RSs) affixed to the pelvis and the femur, following CT-scan of the specimen. The RSs' centres were used to register the measured FROM in HMS, enabling its virtual recreation to compute corresponding BROM by detecting nearest bony impingement. FHJC, estimated from non-limiting FROM, was compared with AHJC to examine their positional differences and effect on BROM.

RESULTS

Differences in BROM and FROM were minimal in deep flexion (3.0° ± 4.1°) and maximum internal rotation (IR) at deep flexion (3.0° ± 2.9°), but substantially greater in extension (53.2° ± 9.5°). Bony impingement was observed during flexion, and IR at deep flexion for two hips. The average positional difference between FHJC and AHJC was 3.1 ± 1.2 mm, resulting in BROM differences of 1°-13° across four motions.

CONCLUSIONS

The study provided greater insight into the applicability and reliability of computed BROM in pre-surgical planning.

Ligament Tension and Balance before and after Robotic-Assisted Total Knee Arthroplasty - Dynamic Changes with Increasing Applied Force

The optimal force applied during ligament balancing in total knee arthroplasty (TKA) is not well understood. We quantified the effect of increasing distraction force on medial and lateral gaps throughout the range of knee motion, both prior to and after femoral resections in tibial-first gap-balancing TKA. Twenty-five consecutive knees in 21 patients underwent robotic-assisted TKA. The posterior cruciate ligament was resected, and the tibia was cut neutral to the mechanical axis. A digital ligament tensioning tool recorded gaps and applied equal mediolateral loads of 70 N (baseline), 90 N, and 110 N from 90 degrees to full extension. A gap-balancing algorithm planned the femoral implant position to achieve a balanced knee throughout flexion. After femoral resections, gap measurements were repeated under the same conditions. Paired t-tests identified gap differences between load levels, medial/lateral compartments, and flexion angle. Gaps increased from 0 to 20 degrees in flexion, then remain consistent through 90 degrees of flexion. Baseline medial gap was significantly smaller than lateral gap throughout flexion (p <0.05). Increasing load had a larger effect on the lateral versus medial gaps (p <0.05) and on flexion versus extension gaps. Increasing distraction force resulted in non-linear and asymmetric gap changes mediolaterally and from flexion to extension. Digital ligament tensioning devices can give better understanding of the relationship between joint distraction, ligament tension, and knee stiffness throughout the range of flexion. This can aid in informed surgical decision making and optimal soft tissue tensioning during TKA.

Intra-operative laxity and balance impact 2-year pain outcomes in TKA: a prospective cohort study

PURPOSE

The objective of this study was to determine if intra-operatively measured joint gaps are associated with 2-year pain outcomes in total knee arthroplasty (TKA) and whether balance and laxity windows could be defined throughout flexion to optimize 2-year pain outcomes. Our hypothesis is that intra-operative joint gaps are associated with 2 year post-operative pain outcome.

METHODS

A prospective study investigating 310 robotically assisted TKAs was performed. Final intra-operative joint gap data were recorded using a digital tensioner and component alignment data were recorded by the robotics system. Patient demographics and Knee Injury and Osteoarthritis Outcome Score (KOOS) were recorded pre-operatively and KOOS and Hospital for Special Surgery (HSS) satisfaction were recorded at 2 years post-op. A random search Simulated Annealing (SANN) optimisation algorithm was used to determine global optimum laxity and balance windows at different flexion angles which maximized the 2-year KOOS pain scores. The windows were combined to determine the impact of achieving optimal laxity and balance throughout flexion. To improve clinical utility, boundaries identified by the SANN algorithm were rounded to the nearest 0.5 mm before statistical analysis.

RESULTS

Laxity and balance windows were defined in extension (Med lax: -2.0 to 2.5 mm, Lat lax: -0.5 to 2.5 mm, Balance: -3.0 to 0.0 mm), mid-flexion (Med lax: -1.0 to 2.5 mm, Lat lax: -0.5 to 3.0 mm, Balance: -2.0 to 2.0 mm), and flexion (Med lax: -2.0 to 3.5 mm, Lat lax: -2.0 to 1.5 mm, Balance: -3.0 to 3.0 mm). When all windows were satisfied, the greatest difference in KOOS pain score was observed (100.0 vs 94.4, p < 0.0001). The highest percentage of knees satisfying the Patient Acceptable Symptom State (PASS) for KOOS pain was also observed in knees which satisfied all windows compared to knees which did not (93% vs 71%, p = 0.0009). The proportion of knees which satisfy the PASS threshold decreased in knees which only satisfied 1-3 (29%) or 4-6 (69%) windows (p ≤ 0.0018). No optimal windows were found between component alignment and KOOS pain outcome (p ≥ 0.1180). High satisfaction was found across all groups (≥ 95%).

CONCLUSION

Intra-operatively measured joint gaps are associated with all KOOS sub-score outcomes at 2 years after TKA. Optimal windows for a clinically relevant improvement in post-operative KOOS pain were defined for laxity and balance but not for alignment indicating balance may have a greater impact on outcome than alignment.

LEVEL OF EVIDENCE

II.

Increased Cup Anteversion May Not Prevent Posterior Dislocation in Patients With Abnormal Spinopelvic Characteristics in Total Hip Arthroplasty

Background

The aims of this study were to (1) assess the degree of variation in acetabular component placement and combined anteversion in a large cohort of dislocating total hip arthroplasties; (2) assess the spinopelvic characteristics of the cohort; and (3) examine the association between cup anteversion and reported direction of instability.

Methods

A commercial database of 245 dislocating total hip arthroplasties referred for postoperative computed tomography and functional radiographic imaging and analysis were reviewed. Spinopelvic parameters and cup and stem positions were measured in the supine, standing, flex-seated, and anterior pelvic plane (APP) positions. Spinopelvic characteristics were stratified by high, neutral, and low cup anteversion using thresholds of >35° and <15° anteversion in standing, respectively.

Results

In the dislocation cohort, 62%, 45%, and 42% of cups were within the safe zone in supine, standing, and the APP, respectively (P < .001). Patients with high vs neutral or low cup anteversion had significantly stiffer spines, more posterior pelvic tilt in standing, greater changes in pelvic tilt, and higher sagittal imbalance. Of the 45 patients with high cup anteversion and reported instability direction, 60% and 40% were reported to have posterior and anterior instability, respectively, with no differences in spinopelvic characteristics.

Conclusions

In this dislocating cohort, there is a decreased percentage of cups within the safe zone in the APP and standing position compared to the supine reference. In addition, we found that patients having poor spinopelvic characteristics and high cup anteversion can still dislocate, suggesting that adjusting cup anteversion alone may not be sufficient for preventing instability.

Laxity, Balance, and Alignment of a Simulated Kinematic Alignment Total Knee Arthroplasty

Background

Kinematic alignment (KA) and related personalized alignment strategies in total knee arthroplasty (TKA) target restoration of native joint line obliquity and alignment. In practice, deviations from exact restoration of the prearthritic joint surface are tolerated for either the femur or tibia to achieve ligamentous balance. It remains unknown what laxity, balance, and alignment would result if a pure resurfacing of both femur and tibia were performed in a KA TKA technique.

Methods

We used data from 382 robot-assisted TKA performed with a digital joint tensioner to simulate TKA with a pure resurfacing KA technique for both femur and tibia. All knees had the posterior cruciate ligament retained. Knees were subdivided into 4 groups based on preoperative coronal alignment: valgus, neutral, varus, and high varus. Medial and lateral laxity in extension and flexion, balance in extension and flexion, and coronal plane alignment were compared between groups using analysis of variance testing.

Results

In simulated pure resurfacing KA TKA across a range of preoperative coronal plane deformities, only 11%-31% of knees would have mediolateral extension ligament balance within ±1 mm, and 20%-41% would have a medial flexion gap that is looser than the lateral flexion gap. Over 45% of knees would have coronal hip-knee-ankle angle >3 degrees from mechanical neutral.

Conclusions

In simulations of pure resurfacing KA TKA, there was wide variability in the resulting laxity and alignment outcomes. Most knees had alignment and balance outcomes outside of normally accepted ranges. Techniques that deviate from pure resurfacing in order to achieve balance appear favorable.

Does Individualization of Cup Position Affect Prosthetic or Bone Impingement Following THA?

INTRODUCTION

Spinopelvic (SP) mobility patterns during postural changes affect three-dimensional acetabular component position, the incidence of prosthetic impingement, and total hip arthroplasty (THA) instability. Surgeons have commonly placed the acetabular component in a similar "safe zone" for most patients. Our purpose was to determine the incidence of bone and prosthetic impingement with various cup orientations and determine if a preoperative SP analysis with individualized cup orientation lessens impingement.

METHODS

A preoperative SP evaluation of 78 THA subjects was performed. Data was analyzed using a software program to determine the prevalence of prosthetic and bone impingement with a patient individualized cup orientation versus six commonly selected cup orientations. Impingement was correlated with known SP risk factors for dislocation.

RESULTS

Prosthetic impingement was least with the individualized choice of cup position (9%) vs. preselected cup positions (18 to 61%). The presence of bone impingement (33%) was similar in all groups and not affected by cup position. Factors associated with impingement in flexion were age, lumbar flexion, pelvic tilt (stand to flexed seated), and functional femoral stem anteversion. Risk factors in extension included standing pelvic tilt, standing SP tilt, lumbar flexion, pelvic rotation (supine to stand and stand to flexed seated), and functional femoral stem anteversion.

CONCLUSION

Prosthetic impingement is reduced with individualized cup positioning based on SP mobility patterns. Bone impingement occurred in one-third of patients and is a noteworthy consideration in preoperative THA planning. Known SP risk factors for THA instability correlated with the It dependspresence of prosthetic impingement in both flexion and extension.

What is the Value of a Balanced Total Knee Arthroplasty? Getting it Right the First Time

INTRODUCTION

Instability is a leading cause of early failure following total knee arthroplasty. Enabling technologies can improve accuracy, but their clinical value remains undetermined. The purpose of this study was to determine the value of achieving a balanced knee joint at the time of TKA.

METHODS

A Markov model was developed to determine the value from reduced revisions and improved outcomes associated with TKA joint balance. Patients were modelled for the first 5 years following TKA. The threshold to determine cost-effectiveness was set at an Incremental Cost Effectiveness Ratio (ICER) of $50,000/quality-adjusted life year (QALY). A sensitivity analysis was performed to evaluate the influence of QALY improvement (ΔQALY) and Revision Rate Reduction (ΔRevision) on additional value generated compared to a conventional TKA cohort. The impact of each variable was evaluated by iterating over a range of ΔQALY (0 to 0.046) and ΔRevision (0 to 30%) and calculating the value generated while satisfying the ICER threshold. Finally, the impact of surgeon volume on these outcomes were analyzed.

RESULTS

The total value of a balanced knee for the first 5 years was $8,750, $6,575, and $4,417 per case, for low, medium, and high-volume surgeons, respectively. Change in QALY accounted for greater than 90% of the value gain with a reduction in revisions making up the rest in all scenarios. The economic contribution of revision reduction was relatively constant regardless of surgeon volume ($500/case).

CONCLUSIONS

Achieving a balanced knee had the greatest impact on QALY improvement over early revision rate. These results can help assign value to enabling technologies with joint balancing capabilities.

Variation in knee balance as a function of hip-knee-ankle angle and joint line obliquity in robotic assisted total knee arthroplasty

PURPOSE

To describe the mediolateral (ML) gap balance in pre-resection arthritic knees undergoing robot-assisted (RA) total knee arthroplasty (TKA) within the nine phenotypes of the Coronal Plane Alignment of the Knee (CPAK) classification.

METHODS

A total of 1124 RA TKA cases were retrospectively reviewed. ML balance was calculated using a digital ligament tensioning device following tibial resection and prior to any femoral resection throughout flexion (10°, 40°, and 90°). Lateral distal femoral angle (LDFA) and medial proximal tibial angle (MPTA) were landmarked intra-operatively and adjusted for wear based on hip-knee-ankle angle (HKA). Knees were then subdivided into CPAK categories based on the arithmetic HKA (aHKA) and joint line obliquity (JLO). Differences in balance between CPAK phenotypes were compared.

RESULTS

For aHKA, a greater medial gap was observed in varus compared to neutral or valgus knees at 10° (5.2 ± 3.0 mm vs 3.3 ± 3.2 mm vs - 0.4 ± 5.0 mm respectively; p < 0.0001). A similar trend was observed for JLO in distal apex compared to neutral and proximal apex knees at 10° (3.4 ± 3.6 vs 1.1 ± 5.0 vs - 2.4 ± 6.3 respectively; p < 0.0001). The greatest ML balance differences were found when combining JLO and aHKA at 10° (type I vs type VI: ∆6.6 mm; p < 0.0001).

CONCLUSION

There is a high degree of variability in arthritic ML balance within and between each CPAK phenotype. A single alignment philosophy based on bony landmarks alone may not be sufficient to balance all knees. Utilisation of robotics and digital ligament tensioning devices serves as important adjuncts to characterize the patient-specific soft tissue profile.

Restricted Inverse Kinematic Alignment Better Restores the Native Joint Line Orientation While Achieving Similar Balance, Laxity, and Arithmetic Hip-Knee-Ankle Angle to Gap Balancing Total Knee Arthroplasty

Background

Both restricted inverse kinematic alignment (iKA) and gap balancing aim for a balanced total knee arthroplasty by adjusting femoral component position based on ligamentous gaps. However, iKA targets a native tibial joint line vs resecting perpendicular to the mechanical axis. This study compares how these 2 techniques impact the balance and laxity throughout flexion and joint line obliquity (JLO), arithmetic hip-knee-ankle angle (aHKA), and the coronal plane alignment of the knee (CPAK).

Methods

Two surgeons performed 75 robot-assisted iKA total knee arthroplasties. A digital joint tensioner collected laxity data throughout flexion before femoral resection. The femoral component position was determined using predictive gap-planning to optimize the balance throughout flexion. Planned gap balancing (pGB) simulations were performed for each case using neutral tibial resections. Mediolateral balance, laxity, and CPAK were compared among pGB, planned iKA (piKA), and final iKA.

Results

Both piKA and pGB had similar mediolateral balance and laxity, with mean differences <0.4 mm. piKA had a lower mean absolute difference from native JLO than pGB (3 ± 2° vs 7 ± 4°, P < .001). aHKA was similar (P > .05) between pGB and piKA. piKA recreated a more native CPAK distribution, with types I-V being the most common ones, while most pGB knees were of type V, VII, and III. Final iKA and piKA had similar mediolateral balance and laxity, with a root-mean-square error <1.4 mm.

Conclusions

Although balance, laxity, and aHKA were similar between piKA and pGB, piKA better restored native JLO and CPAK phenotypes. The neutral tibial resection moved most pGB knees into types V, VII, and III. Surgeons should appreciate how the alignment strategy affects knee phenotypes.

Impact of a Digital Balancing Tool on Femur and Tibial First Total Knee Arthroplasty: A Prospective Nonrandomized Controlled Trial

Background

Recent developments in intra-operative sensor technology provide surgeons with predictive and real-time feedback on joint balance. It remains unknown, however, whether these technologies are better suited to femur-first or tibia-first workflows. This study investigates the balance accuracy, precision and early patient outcomes between the femur-first and tibial-first workflows using a digital gap-balancing tool.

Methods

One-hundred six patients had posterior cruciate ligament sacrificing total knee arthroplasty using a digital joint tensioner. The participants were divided into 4 groups with different visibility to balance data 1) Femur-first blinded data, 2) Femur-first not blinded data, 3) Tibia-first blinded data, 4) Tibia-first not blinded data with predictive balancing. Knee Injury and Osteoarthritis Outcome Score and University of California at Los Angeles activity level were recorded at 1-year.

Results

Group 4 reported less midflexion imbalance (40°) compared to all other groups (1: 1.5 mm, 2: 1.7 mm, 3: 1.6 mm, 4: 1.0 mm, P < .031) and reduced variance compared to all other groups at 40° and 90° (P < .012), resulting in an increased frequency of joints balanced within 2 mm throughout flexion in group 4 (1: 69%, 2: 65%, 3: 67%, 4: 91%, P < .006). No differences were found between 3-month, 6-month, or 1-year outcome scores between technique.

Conclusions

Improvements in balance were observed in midflexion instability and balance variability throughout flexion when a tibia-first approach in combination with a digital balancing tool was used. The combination of a digital balancing tool and a tibia-first approach allowed a target joint balance to be achieved more accurately compared to a non-sensor augmented or femur-first approach.

Restricted kinematic alignment achieves similar relative lateral laxity and greater joint line obliquity compared to gap balancing TKA

PURPOSE

The purpose of this study was to compare ligament balance and laxity profiles achieved throughout flexion in restricted kinematic alignment (rKA) and gap balancing (GB). rKA and GB both aim to improve soft tissue balance and reduce ligament releases in total knee arthroplasty (TKA).

METHODS

One surgeon performed 68 rKA, another performed 73 GB TKAs using the same CR implant and robotic system. rKA limited femoral valgus and tibial varus to 6°, with tibial recuts performed to achieve balance. GB limited tibial varus and femoral valgus to 2°, with femoral resections adjusted to achieve mediolateral balance throughout flexion using predictive-gap planning software. Final joint laxity was measured using a robotic ligament tensioner. Statistical analyses were performed to compare differences in mediolateral balance and joint laxity throughout flexion. Further analyses compared alignment, joint line elevation and orientation (JLO), and frequency of ligament releases and bone recuts.

RESULTS

Both techniques reported greater lateral laxity throughout flexion, with GB reporting improved mediolateral balance from 10° to 45° flexion. GB resected 1.7 mm more distal femur (p ≤ 0.001) and had greater overall laxity than rKA throughout flexion (p ≤ 0.01). rKA increased JLO by 2.5° and 3° on the femur and tibia (p ≤ 0.001). Pre-operative and post-operative coronal alignment were similar across both techniques. rKA had a higher tibial recut rate: 26.5% vs 1.4%, p < 0.001.

CONCLUSIONS

rKA and GB both report lateral laxity but with different JLO and elevation. Use of a predictive-gap GB workflow resulted in greater mediolateral gap symmetry with fewer recuts.

LEVEL OF EVIDENCE

III, retrospective cohort study.

Predictive Gap-balancing Reduces the Extent of Soft-tissue Adjustment Required After Bony Resection in Robot-assisted Total Knee Arthroplasty-A Comparison With Simulated Measured Resection

Background

To understand the extent and frequency of soft-tissue adjustment required to achieve mediolateral (ML) balance in measured resection (MR) vs gap-balancing (GB) total knee arthroplasty, this study compared ML balance and joint laxity throughout flexion between the 2 techniques. The precision of predictive GB in achieving ML balance and laxity was also assessed.

Methods

Two surgeons performed 95 robot-assisted GB total knee arthroplasties with predictive balancing, limiting tibial varus to 3° and adjusting femoral positioning to optimize balance. A robotic ligament tensioner measured joint laxity. Planned MR (pMR) was simulated by applying neutral tibial and femoral coronal resections and 3° of external femoral rotation. ML balance, laxity, component alignment, and resection depths were compared between planned GB (pGB) and pMR. ML balance and laxity were compared between pGB and final GB (fGB).

Results

The proportion of knees with >2 mm of ML imbalance in flexion or extension ranged from 3% to 18% for pGB vs 50% to 53% for pMR (P < .001). Rates of ML imbalance >3 mm ranged from 0% to 9% for pGB and 30% to 38% for MR (P < .001). The mean pMR laxity was 1.9 mm tighter medially and 1.1 mm tighter laterally than pGB throughout flexion. The mean fGB laxity was greater than the mean pGB laxity by 0.5 mm medially and 1.2 mm laterally (P < .001).

Conclusion

MR led to tighter joints than GB, with ML gap imbalances >3 mm in 30% of knees. GB planning improved ML balance throughout flexion but increased femoral posterior rotation variability and bone resection compared to MR. fGB laxity was likely not clinically significantly different than pGB.

What Is the Alignment and Balance of a Total Knee Arthroplasty Performed Using a Calipered Kinematic Alignment Technique?

METHODS

We simulated calipered kinematic alignment total knee arthroplasty (cKATKA) using alignment data and ligament tensions acquired during 607 consecutive robotic-assisted TKAs performed using a dynamic ligament tensor. The distal femur was resected parallel to the native joint line accounting for cartilage loss. The proximal tibial resection necessary to achieve extension gap balance was calculated for each knee. Similarly, symmetric posterior condylar resections prescribed by this method were simulated and the tibial resection needed to achieve a balanced flexion gap calculated. Finally, the resultant limb alignment and degree of joint balance in both flexion and extension of each knee were determined and categorized according to the preoperative knee alignment.

RESULTS

Increasing preoperative varus deformity required a greater tibial varus cut to achieve a balanced extension gap (P < .0001). There was no correlation between tibial varus angle and flexion gap balance (P > .1). For mild varus deformities 81% and 95% of knees could be balanced and have an overall limb alignment within 3° and 5° from the mechanical axis respectively. For knees with moderate-severe varus, only 37% and 74% could be balanced within these alignment boundaries (P < .01). Overall, 95% of these simulated knees could be balanced with an overall alignment within 0° ± 5°. However, 50% of the simulated TKAs had looser medial gaps in flexion compared to the lateral gap.

CONCLUSIONS

Application of the cKATKA method can yield TKAs within 0° ± 5° of mechanical axis alignment by simply adjusting the proximal tibial resection without ligament releases. However, an undesirable flexion gap balance was predicted in nearly 50% of the TKAs.

Improved total knee arthroplasty pain outcome when joint gap targets are achieved throughout flexion

PURPOSE

Achieving a balanced knee is accepted as an important goal in total knee arthroplasty; however, the definition of ideal balance remains controversial. This study therefore endeavoured to determine: (1) whether medio-lateral gap balance in extension, midflexion, and flexion are associated with improved outcome scores at one-year post-operatively and (2) whether these relationships can be used to identify windows of optimal gap balance throughout flexion.

METHODS

135 patients were enrolled in a multicenter, multi-surgeon, prospective investigation using a robot-assisted surgical platform and posterior cruciate ligament sacrificing gap balancing technique. Joint gaps were measured under a controlled tension of 70-90 N from 10°-90° flexion. Linear correlations between joint gaps and one-year KOOS outcomes were investigated. KOOS Pain and Activities of Daily Living sub-scores were used to define clinically relevant joint gap target thresholds in extension, midflexion, and flexion. Gap thresholds were then combined to investigate the synergistic effects of satisfying multiple targets.

RESULTS

Significant linear correlations were found throughout extension, midflexion, and flexion. Joint gap thresholds of an equally balanced or tighter medial compartment in extension, medial laxity ± 1 mm compared to the final insert thickness in midflexion, and a medio-lateral imbalance of less than 1.5 mm in flexion generated subgroups that reported significantly improved KOOS pain scores at one year (median ∆ = 8.3, 5.6 and 2.8 points, respectively). Combining any two targets resulted in further improved outcomes, with the greatest improvement observed when all three targets were satisfied (median ∆ = 11.2, p = 0.002).

CONCLUSION

Gap thresholds identified in this study provide clinically relevant and achievable targets for optimising soft tissue balance in posterior cruciate ligament sacrificing gap balancing total knee arthroplasty. When all three balance windows were achieved, clinically meaningful pain improvement was observed.

LEVEL OF EVIDENCE

Level II.

Impact of intra-operative predictive ligament balance on post-operative balance and patient outcome in TKA: a prospective multicenter study

INTRODUCTION

New technologies exist which may assist surgeons to better predict final intra-operative joint balance. Our objectives were to compare the impact of (1) a predictive digital joint tensioning tool on intra-operative joint balance; and (2) joint balance and flexion joint laxity on patient-reported outcomes.

MATERIALS AND METHODS

Two-hundred Eighty patients received posterior cruciate ligament sacrificing TKA with ultra-congruent tibial inserts using a robotic-assisted navigation platform. Patients were divided into those in which a Predictive Plan with a digital joint-tensioning device was used (PP) and those in which it was not (NPP), in all cases final post-operative joint gaps were collected immediately before final implantation. Demographics and KOOS were collected pre-operatively. KOOS, complications and satisfaction were collected at 3, 6 and 12 months post-operatively. Optimal balance difference between PP and NPP was defined and compared using area-under-the-curve analysis (AUC). Outcomes were then compared according to the results from the AUC.

RESULTS

AUC analysis yielded a balance threshold of 1.5 mm, in which the PP group achieved a higher rate of balance throughout flexion compared to the NPP group: extension: 83 vs 52%; Midflexion: 82 vs 55%; Flexion 89 vs 68%; Flexion to Extension 80 vs 49%; p ≤ 0.003. Higher KOOS scores were observed in knees balanced within 1.5 mm across all sub-scores at various time points, however, differences did not exceed the minimum clinically important difference (MCID). Patients with > 1.5 mm flexion laxity medially or laterally had an increased likelihood of 2.2 (1.1-4.4) and 2.5 (1.3-4.8), respectively, for failing to achieve the Patient Acceptable Symptom State for KOOS Pain at 12 months. Patient satisfaction was high in both the PP and NPP groups (97.4 and 94.7%, respectively).

CONCLUSIONS

Use of a predictive joint tensioning tool improved the final balance in TKA. Improved outcomes were found in balanced knees; however, this improvement did not achieve the MCID, suggesting further studies may be required to define optimal balance targets. Limiting medial and lateral flexion laxity resulted in an increased likelihood of achieving the Patient Acceptable Symptom State for KOOS Pain.

Patient expectations and satisfaction in robotic-assisted total knee arthroplasty: a prospective two-year outcome study

INTRODUCTION

The impact of fulfillment of patient expectations throughout recovery on satisfaction in total knee arthroplasty (TKA) is not well understood. Utilizing a standardized TKA method with a robotically assisted (RA) platform, we investigated the impact of expectation fulfillment at 3-month (M) and 6-M on 1-year (Y) and 2-Y satisfaction. We hypothesize that early fulfillment of patient expectations is associated with improved midterm patient satisfaction. We also compare improvements in outcomes with RA-TKA to those of a recent large national TKA cohort study to determine whether RA-TKA meets or exceeds the current standard of care.

MATERIALS AND METHODS

One hundred six patients were prospectively enrolled and underwent robotic-assisted TKA by a single surgeon using the OMNIBotics system. Patients completed KOOS and New Knee Society Score (KSS) preoperatively and at 3M, 6M, 1Y, and 2Y postoperatively. Expectation fulfillment was subdivided into patients who were below or above the average expectation score pre-operatively, or fulfillment of expectation score at 3M and 6M post TKA. The satisfaction of each group was then compared at 1Y and 2Y post TKA. Study cohort outcomes were compared to contemporary literature from the Function and Outcomes Research for Comparative Effectiveness in Total Joint Replacement (FORCE-TJR) database.

RESULTS

Patients with greater than average KSS expectation fulfillment at 3M reported significantly higher KSS satisfaction scores at 1Y (34.9 ± 5.3 vs 30.6 ± 6.7, p = 0.0012), and patients with greater than average 6M expectation fulfillment reported improved satisfaction at 1Y (33.9 ± 5.9 vs 31.1 ± 6.7, p = 0.0330) and 2Y (35.2 ± 4.8 vs 32.4 ± 6.8, p = 0.0323). When compared to the FORCE-TJR database, no significant differences in post-operative KOOS outcomes were observed except for Sports and Recreation, for which the RAS group demonstrated higher scores (65.5 ± 30.0 vs 53.0 ± 27.1 p < 0.0001); however, the study cohort reported significantly greater improvements in KOOS Pain, Symptoms, Sports and Recreation, and Quality of Life at multiple time points up to 2 years post TKA.

CONCLUSION

High early-expectation fulfillment was associated with improved satisfaction at 1Y and 2Y, indicating the importance of managing patient-specific post-operative care to ensure patients reach their pre-operative goals. Greater improvements in all KOOS sub-scores and in absolute Sports and Recreation at 1Y and 2Y were observed in this robotic-assisted cohort compared to a large contemporary database, indicating that RAS meets or exceeds current standard of care benchmarks for patient-reported outcomes.

Can a robot help a surgeon to predict a good total knee arthroplasty?

AIMS

Neither a surgeon's intraoperative impression nor the parameters of computer navigation have been shown to be predictive of the outcomes following total knee arthroplasty (TKA). The aim of this study was to determine whether a surgeon, with robotic assistance, can predict the outcome as assessed using the Knee Injury and Osteoarthritis Outcome Score (KOOS) for pain (KPS), one year postoperatively, and establish what factors correlate with poor KOOS scores in a well-aligned and balanced TKA.

METHODS

A total of 134 consecutive patients who underwent TKA using a dynamic ligament tensioning robotic system with a tibia first resection technique and a cruciate sacrificing ultracongruent TKA system were enrolled into a prospective study. Each TKA was graded based on the final mediolateral ligament balance at 10° and 90° of flexion: 1) < 1 mm difference in the thickness of the tibial insert and that which was planned (n = 75); 2) < 1 mm difference (n = 26); 3) between 1 mm to 2 mm difference (n = 26); and 4) > 2 mm difference (n = 7). The mean one-year KPS score for each grade of TKA was compared and the likelihood of achieving an KPS score of > 90 was calculated. Finally, the factors associated with lower KPS despite achieving a high-grade TKA (grade A and B) were analyzed.

RESULTS

Patients with a grade of A or B TKA had significantly higher mean one-year KPS scores compared with those with C or D grades (p = 0.031). There was no difference in KPS scores in grade A or B TKAs, but 33% of these patients did not have a KPS score of > 90. While there was no correlation with age, sex, preoperative deformity, and preoperative KOOS and Patient-Reported Outcomes Measurement Information System (PROMIS) physical scores, patients with a KPS score of < 90, despite a grade A or B TKA, had lower PROMIS mental health scores compared with those with KPS scores of > 90 (54.1 vs 50.8; p = 0.043). Patients with grade A and B TKAs with KPS > 90 were significantly more likely to respond with "my expectations were too low", and with "the knee is performing better than expected" compared with patients with these grades of TKA who had a KPS score of < 90 (40% vs 22%; p = 0.004).

CONCLUSION

A TKA balanced with robotic assistance to within 1 mm of difference between the medial and lateral sides in both flexion and extension had a higher KPS score one year postoperatively. Despite accurate ligament balance information, a robotic system could not guarantee excellent pain relief. Patient expectations and mental status also significantly affected the perceived success of TKA. Cite this article: Bone Joint J 2021;103-B(6 Supple A):67-73.

Laxity Profiles in the Native and Replaced Knee-Application to Robotic-Assisted Gap-Balancing Total Knee Arthroplasty

BACKGROUND

The traditional goal of the gap-balancing method in total knee arthroplasty is to create equal and symmetric knee laxity throughout the arc of flexion. The purpose of this study was to (1) quantify the laxity in the native and the replaced knee throughout the range of flexion in gap-balancing total knee arthroplasty (TKA) and (2) quantify the precision in achieving a targeted gap profile throughout flexion using a robotic-assisted technique with active ligament tensioning.

METHODS

Robotic-assisted, gap-balancing TKA was performed in 14 cadaver specimens. The proximal tibia was resected, and the native tibiofemoral gaps were measured using a robotic tensioner that dynamically tensioned the soft-tissue envelope throughout the arc of flexion. The femoral implant was then aligned to balance the gaps at 0° and 90° of flexion. The postoperative gaps were then measured during final trialing with the robotic tensioner and compared with the planned gaps.

RESULTS

The native gaps increased by 3.4 ± 1.7 mm medially and 3.7 ± 2.1 mm laterally from full extension to 20° of flexion (P < .001) and then remained consistent through the remaining arc of flexion. Gap balancing after TKA produced equal gaps at 0° and 90° of flexion, but the gap laxity in midflexion was 2-4 mm greater than at 0° and 90° (P < .001). The root mean square error between the planned gaps and actual measured postoperative gaps was 1.6 mm medially and 1.7 mm laterally throughout the range of motion.

CONCLUSION

Aiming for equal gaps at 0° and 90° of flexion produced equal gaps in extension and flexion with larger gaps in midflexion. Consistent soft-tissue balance to a planned gap profile could be achieved by using controlled ligament tensioning in robotic-assisted TKA.

Characterization of the orientation and isometry of Humphrey's ligament

OBJECTIVES/PURPOSE

The purpose of this study was to examine the effect of flexion angle on isometry and fiber obliquity of the anterior meniscofemoral ligament (Humphrey's ligament (HL)).

METHODS

Following a medial parapatellar arthrotomy on 7 fresh frozen cadavers, the insertion points of the anterolateral (AL) and posteromedial (PM) bundles of the PCL, and HL were identified. Using a 9mm circular software tool, virtual fibers were created. Within each virtual graft, a central fiber was calculated and used to generate anisometry profiles for the AL and PM bundles and HL at flexion angles of 0°, 30°, 60°, 90°, and 120°. Previously validated computer navigation software was used to re-create three dimensional bundles to measure fiber obliquity in the sagittal, frontal, and axial planes.

RESULTS

HL length increased with knee flexion from 0 to 120°, and underwent similar length changes as the PCL bundles. In full extension and at 90°, the average length of the PM and AL bundles were not statistically different (p=0.13 and p=0.85 respectively). From 0 to 120°, the PM bundle was the most isometric, but the anisometry profile was statistically similar to the AL bundle and HL. In general, HL and the PM bundle had similar graphic trends in terms of fiber obliquity in all planes.

CONCLUSIONS

Using computer navigation, we have demonstrated that HL has similar isometry profiles as the PM and AL bundles of the PCL, and "mirrored" the obliquity of the PM bundle in all planes throughout flexion to 120°.

The effect of medial condylar bone loss of the knee on coronal plane stability--a cadaveric study

INTRODUCTION

The quantitative effects of medial bone loss of the knee on both leg alignment and coronal plane stability are poorly understood.

MATERIALS AND METHODS

Utilizing computer navigation, 5mm bone defects of the medial distal femur (MDF), medial posterior femoral condyle (MPF), and medial tibial plateau (MT) were simulated in 10 cadaveric limbs, and alignment of the knee at various degrees of flexion were analyzed when applying standardized varus and valgus loads.

RESULTS

The 5mm MPF defect significantly increased varus laxity at 90° of flexion by 3.3° ± 1.2° (p=0.019), a 5mm MDF defect resulted in a 2.2° ± 1.7° (p=0.037) and a 2.1° ± 1.3° (p=0.023) increase in laxity at 0° and 30° of flexion, respectively, and a 5mm MT defect increased varus laxity at all flexion angles by 4.0° to 7.0°, but was only statistically significant at 30° (p=0.026).

DISCUSSION

This study confirms and quantifies the theories of flexion and extension gap balancing, and pseudolaxity of the medial collateral ligament in the varus knee, the results of which can be used in preoperative planning and intraoperative decision making for both total knee and unicondylar arthroplasty.

Adjustable cutting blocks improve alignment and surgical time in computer-assisted total knee replacement

PURPOSE

Computer navigation increases accuracy and precision of component alignment in total knee arthroplasty (TKA) compared to the manual technique, but is often associated with increases in surgical time. In a previous cadaver study, we demonstrated a significant improvement in guide positioning precision, final bone cut precision, and procedure length when using adjustable cutting blocks (ACB) compared to conventional cutting blocks (CCB) in computer-navigated TKA. The aim of this study was to evaluate the use of ACB in vivo.

METHODS

We radiographically compared component alignment and mechanical leg alignment, as well as tourniquet time, in 94 patients who underwent TKA using either ACB (N = 30) or CCB (N = 64).

RESULTS

Postoperative mechanical alignment variability was significantly less in the ACB group (SD = 1.7°) than in the CCB group (SD = 2.7°). Tourniquet time was significantly reduced by 14.8 min in the ACB group compared to the CCB. Differences in component alignment were not significant.

CONCLUSION

ACB for TKA significantly reduced postoperative mechanical alignment variability and tourniquet time compared to conventional navigated instrumentation, while providing equal or better component alignment.

LEVEL OF EVIDENCE

III.

Software for compartmental translation analysis and virtual three-dimensional visualization of the pivot shift phenomenon

Anterior cruciate ligament (ACL) injury may cause knee instability and may result in damage to the menisci and the articular cartilage. The pivot shift test is commonly used to identify rotational instability of the knee following injury to the ACL. The magnitude of lateral compartment translation correlates well with the grade of the pivot shift. However, commonly used navigation systems do not readily provide individualized compartmental translation. We aimed to develop software to (a) quantify individual medial and lateral compartmental translation in the knee during the pivot shift test, and (b) generate animated three-dimensional renderings of recorded pivot shift examinations. Twelve paired cadaveric knees were used to test the software. Three mechanized pivot shift tests were performed on each knee with the ACL intact and again after sectioning the ACL. Using the Pivot Shift Processor, we successfully analyzed the data recorded using the navigation system. After sectioning the ACL, there was a greater increase in tibiofemoral translation in the lateral compartment compared to the medial compartment. The Pivot Shift Visualizer successfully produced a 3D rendering of the knee joint and the recorded pivot shift maneuvers. This virtual representation of the pivot shift phenomenon from multiple points of view allows for efficient side-by-side comparison of tibiofemoral motion tracking across conditions, which is not possible in the in vivo / in vitro settings. This, in turn, could lead to a better understanding of the kinematics in play during the pivot shift phenomenon.

Dynamic Physical Constraints: Emulating Hard Surfaces with High Realism

In this paper, we present a novel haptic technique for emulating hard surfaces with high realism; such a technique has significant potential utility in certain orthopedic surgery applications such as joint replacement surgery where the goal is to prevent incursions beyond a virtual surface during bone cutting operations. The Dynamic Physical Constraint (DPC) concept uses a unidirectional physical constraint that is actively positioned to limit movement between two manipulator links; the concept is applicable to providing virtual constraints in both 2D and 3D workspaces. Simulation results demonstrate the potential feasibility of the concept, and a prototype device was built for testing. The DPC device provides a convincing sensation of a real, hard virtual surface which can be smoothly tracked when the end effector is in contact with the surface. Incursion across the surface with the prototype was well submillimetric and within the accuracy constraints required for joint replacement applications.

From wall graft to roof graft: reassessment of femoral posterior cruciate ligament positioning

In many technique guides for posterior cruciate ligament (PCL) reconstruction, the PCL is depicted on the wall of the medial femoral condyle (MFC). We hypothesized that most of the anterolateral (AL) bundle originates on the roof of the intercondylar notch (ICN), not on the wall. Using a surgical navigation system, we delineated and morphed in the computer the entire PCL footprint-the AL bundle, the posteromedial (PM) bundle, and the Humphrey ligament (HL)-of 7 fresh-frozen cadaveric specimens. A clock face was defined in the en face view, with the 12-o'clock axis pointing anteriorly through the top of the notch and the roof being the region between 10 o'clock and 2 o'clock. The AL-bundle, PM-bundle, and HL positions were calculated in terms of this clock-face definition. Mean centroids (o'clock position) over all specimens of AL bundle, PM bundle, and HL were, respectively, 10:49, 9:43, and 9:00 on the left knee and 1:11, 2:17, and 3:00 on the right knee. Mean areas were 63 mm(2) (AL bundle), 63 mm(2) (PM bundle), and 45 mm(2) (HL). In 5 of the 7 specimens tested, 100% of the AL bundle originated on the roof of the ICN. Conversely, 66% of the PM bundle and 100% of the HL inserted on the wall of the MFC rather than on the intercondylar roof. Using computer navigation software, we determined that most of the AL bundle originates on the roof of the ICN and that the PM bundle is centered near the transition between the roof and the wall of the MFC. These findings contradict the depiction in most technique guides for PCL reconstruction. Implant companies and surgeons should modify their techniques to shift PCL graft tunnels from the wall of the MFC to the roof of the ICN.

Adjustable cutting blocks for computer-navigated total knee arthroplasty: a cadaver study

Computer-navigation in total knee arthroplasty has been reported to increase accuracy but also procedure duration. We compared surgical time and precision using a novel adjustable cutting block vs freehand navigation with conventional blocks on 12 bilateral cadaver tibiae. The mean time required was significantly less to position the adjustable block than the conventional block (2 minutes 10 seconds vs 6 minutes 35 seconds, P = .006). Guide positioning precision (standard deviation) for the adjustable block vs conventional block was as follows: varus/valgus, 0.24 degrees vs 1.16 degrees (P = .015); posterior slope, 0.35 degrees vs 0.74 degrees (P = .13); and cut height, 0.37 vs 1.41 mm (P = .010). There were no significant differences in the final bone cut accuracy between the 2 groups. The use of adjustable cutting blocks simplifies navigated procedures and may reduce the time required to perform a navigated total knee arthroplasty.

A navigated 8-in-1 femoral cutting guide for total knee arthroplasty technical development and cadaveric evaluation

The goals of this study were to determine the precision of femoral component placement using a novel computes assisted surgery (CAS)-enabled 8-in-1 cutting guide in cadaver limbs and to identify errors generated at various stages of the cutting process. The cutting guide placement was on average within 1 degrees or millimeter of the target position in the varus/valgus, axial rotation, and cut height directions and within 2 degrees or millimeters, in all other directions. The difference between the desired femoral component and the impacted trial component position, defined as the execution error, averaged 0.9 degrees +/- 1.7 degrees of varus rotation, 0.8 +/- 2.3 mm of lateral translation, and 0.3 +/- 1 mm of proximal translation in the coronal plane (+/-SD). In the sagittal and axial planes, the execution error averaged 2.8 degrees +/- 2.5 degrees of flexion, 3.4 +/- 1.3 mm of anterior translation, and 0.7 degrees +/- 2.7 degrees of external rotation. CAS permits accurate placement of 8-in-1 jigs for valgus/varus, axial rotation, and cut height but is less accurate in the sagittal plane. Care should be taken when executing the cuts, which can affect precision in the sagittal plane more than actual positioning of the jig.

New visualization tools: computer vision and ultrasound for MIS navigation

BACKGROUND

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

METHODS

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

RESULTS AND CONCLUSIONS

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

Praxiteles: a miniature bone-mounted robot for minimal access total knee arthroplasty

We have been working to develop a compact, accurate, safe, and easy-to-use surgical robot for minimally invasive total knee arthroplasty (TKA). The goal of our bone-mounted robot, named Praxiteles, is to precisely position a surgical bone-cutting guide in the appropriate planes surrounding the knee, so that the surgeon can perform the planar cuts manually using the guide. The robot architecture is comprised of 2 motorized degrees of freedom (DoF) whose axes of rotation are arranged in parallel, and are precisely aligned to the implant cutting planes with a 2 DoF adjustment mechanism. Two prototypes have been developed and tested on saw bones and cadavers--an initial one for open TKA surgery and a new version for MIS TKA, which mounts on the side of the knee. A novel bone-milling technique is also presented that uses passive guide and a side milling tool.

Bone cutting errors in total knee arthroplasty

Although achieving precise implant alignment is crucial for producing good outcomes in total knee arthroplasty, the contribution of the bone-cutting process to overall variability has not been measured previously. Eight orthopaedic surgeons with varying amounts of total knee arthroplasty experience performed 85 resections on 19 cadaver femora and tibiae, and the planes of the resulting cut surfaces were compared with the guide planes. Varus-valgus alignment variability ranged from 0.4 degrees to 0.8 degrees SD for expert and trainee surgeons. Sagittal variability was approximately 1.3 degrees SD for both surgeon groups. Slotted cutting guides reduced the variability and eliminated the bias in the sagittal plane for experienced surgeons but did not improve significantly frontal plane alignment variability. Guide movement contributed 10% to 40% of the total cutting error, depending on cut and guide type.