Obtaining accurate bone cuts based on mechanical axes and ligament balancing, are necessary for a successful total knee procedure. The Orthosensor Tibial Trial displays on a GUI the magnitude and location of the lateral and medial contact forces at surgery. The goal of this study was to develop the algorithms to inform the surgeon which bone cuts or soft tissue releases were necessary to achieve balancing, from an initial unbalanced state.

A rig was designed for lower body specimens mounted on a standard operating table. Surgical Tests were then defined: Sag Test, leg supported at the foot; Dynamic Heel Push test, flexing to 120 degrees with the foot sliding along a rail; Varus-Valgus test; AP Drawer test; Internal-External Rotation test. The bone cuts were made using a Navigation system, to match the Triathlon PCL retaining knee. To determine the initial thickness of the tibial trial, the Sag Test was performed to reach 0 deg flexion. The Heel Push Test was then performed to check the AP position of the lateral and medial contacts, from which the rotational position of the tibial tray was determined. Pins were used to reproduce this position during the experiments.

Surgical Variables were then defined, which would influence the balancing: LCL Stiffness, MCL Stiffness, Distal Femoral Cut Level, Tibial Sagittal Slope, Tibial Varus or Valgus, and AP Femoral Component Length. Balancing was defined as equal lateral and medial forces due to soft tissue tensions throughout the flexion range, equal varus and valgus stiffnesses, and no contacts closer than 10mm to component edges. All of the above tests were then performed sequentially, and the changes in the contact force readings were considered as a signature of that Surgical Variable.

In an actual surgical case, having obtained readings from the Surgical Tests, the data will be compared with the signatures of the Surgical Variables. This will then identify the Variable which needed correction. The Surgical Tests will be repeated and the readings should be closer to balanced. Further correction of another Variable is carried out if necessary. In early clinical cases, it was found that this method allowed for identification of how to reach a balanced state, and achieved soft tissue balancing in a quantitative way.

Most types of bone tumor surgery require intra-operative imaging or measurement to control margins and prevent unnecessary bone loss. Computer Assisted Surgery (CAS) has been used as a replacement of fluoroscopy or direct measurement tools in four specific types of oncological orthopaedic surgical approaches. There are intralesional treatments, image-based resections, image-based resections with image-based reconstructions and image-based resections with imageless tumor prostheses reconstruction. Since 2006 we have performed 130 oncological surgeries with CAS.

Most cases were excochleations, 64, where CAS replaces fluoroscopy as an intra-operative imaging modality. Advantages over fluoroscopy are real time three dimensional feedback, high-res image and no use of ionizing radiation. It is especially useful in larger lesions or lesions located in the femoral head or pelvis. Currently a study is being performed on patient satisfaction, recurrence and complications.

Another application where CAS has often been used is in resections and segmental resections (together 45). These can be preplanned before surgery, incorporating the margin required, and checked intra-operatively. Coloration of the tumor, critical structures is useful to avoid these. Sometimes it's possible with careful planning to spare structures that otherwise probably would not confidently have spared.

With hemicortical resection (5) it's possible to use CAS to exactly copy the shape of the resected bone to an allograft. A Ct scan of one case shows an average gap between host and graft of 0.9 mm (range 0–5.4) along the 6 cm resection.

Finally in 16 cases of imageless use in placement of tumor prostheses it feels greatly helpful in reconstructing the joint line, length and correct rotation.

There were 8 failures in these 130 cases with the system or software. Setup time was measured in 47 cases and was on average 6:50 (range 2:26–14:27). Indication and performance of CAS in orthopedic oncology is an under researched aspect of CAS. In our opinion CAS shows great promise in the field of orthopedic oncology and is a valuable tool in the operating room.

Hardware in or about the knee joint presents a number of challenges to the surgeon in performance of Total Knee Arthroplasty (TKA). Conventional instrumentation usually requires a modification of technique or removal of the metallic implants. Computer-Assisted TKA (CAOS) is another option, but adds complexity and time to the procedure. MRI-based Patient-Specific Instrumentation (PSI) cannot be used as metal causes unwanted artifact and renders the images for planning, useless. However, CT scans are not affected by metal and thus CT-based PSI can be used in TKA patients with pre-existing hardware.

The present IRB approved study evaluates 12 consecutive knees (10 patients) with pre-existing hardware using CT-based PSI (MyKnee®, Medacta International, SA, Castel San Pietro, Switzerland).

In this technique, CT scan of the lower extremity is obtained, and from these images, the knee is reconstructed 3-dimensionally. Surgical and implant-size planning are performed according to surgeon preference, with the goal to create a neutral mechanical axis. Once planned and approved, the blocks are made.

During surgery, the PSI cutting block is registered on the femur first and secured with smooth pins. The distal femoral resection is performed directly through the block. An appropriate sized 4-in-1 block is placed and the remaining femoral resections are performed. The tibial resection block is registered and resection performed. Final bone preparation, patella resurfacing, and trialing is performed as is standard to all surgical techniques.

Of the 12 TKAs, there were 5 left and 7 right knees performed in 6 females and 6 males. The average BMI was 33.19 and average age was 53 (range 44–63). All diagnoses were either osteoarthritis or post-traumatic osteoarthritis. Follow-up averaged 59 weeks (range 18.6–113.7).

Nine patients had pre-operative varus deformities with HKA deformities average of 171.9° (range 154°–178.5°). One patient had pre-operative valgus deformity of 184.5°. Two patients were neutral (180°). Post-operative alignment for all patients (n=11) was 179° (range 177°–180°). All patients were within 3° neutral, post operatively. Four patients measured 180°, 4 measured at 179°, 2 measured at 178°, and only one at 177°.

Hardware consisted of 5 patients with femur or tibia staples, 3 with plate(s) and screws, 3 patients with ACL interference screws, and one titanium rod. No hardware was removed unless necessary for implantation. Only 3 patients required some hardware removal.

The pre-operative Range of Motion (ROM) averaged 2.9° to 98.3° (Extension range 0–15° and flexion range 30–115°). Post-operative ROM was 2.9° to 101.3°. (Extension range 0–5° and flexion range 65–125°). Knee Society Score (KSS) improved from 42.3 to 82.3, and KSS Function Score improved from 52.1 to 77.5. No intraoperative complications were recorded. Average tourniquet time was 42.1 minutes (range 28–102).

Regardless of the deformity, the patient's post-operative mechanical axes HKA averaged 179° (range 177–180). Clinical scores were typical for TKA patients with improvement in both KSS and ROM.

In conclusion, early results using PSI in patients with pre-existing hardware in or about the joint, is safe, efficient, and accurate in performance of TKA.

The present IRB approved study evaluates the early results of 100 TKAs using CT-based Patient-Specific Instrumentation (PSI) (MyKnee®, Medacta International, SA, Castel San Pietro, Switzerland). For this technique, a CT scan of the lower extremity is obtained, and from these images, the knee is reconstructed 3-dimensionally. Surgical and implant-size planning are performed according to surgeon preference, with the goal to create a neutral mechanical axis. Once planned and approved, the blocks are made.

Outcomes measured for the present study include surgical factors such as Tourniquet Time (TT) as a measure of surgical efficiency, the actual intraoperative bony resection thicknesses to be compared to the planned resections from the CT scan, and complication data. Furthermore, pre- and post-operative long standing alignment and Knee Society Scores (KSS) were obtained.

During surgery, the PSI cutting block is registered on the femur first and secured with smooth pins. No osteophytes are removed as the blocks use the positive topography of the osteophytes for registration. The distal femoral resection is performed directly through the block. An appropriate sized 4-in-1 block is placed and the remaining resections are performed. The tibial resection block is registered and resection performed. Final bone preparation, patella resurfacing, and trialing is performed as is standard to all surgical techniques.

There were 50 Left and 50 Right TKA's performed in 61 females and 39 males. All patients had diagnosis of osteoarthritis. The average BMI was 31.1 and average age was 64.5 (range 41–90). 79 patients had pre-operative varus deformities with Hip Knee Angle (HKA) average of 174.7° (range 167°–179.5°). 19 patients had pre-operative valgus deformities averaging 184.4° (range 180.5°–190°). Three patients were neutral.

Average TT was 31.2 minutes (range 21–51 minutes). With regard to the bony resections, the actual vs. planned resections for the distal medial femoral resection was 8.7 mm vs. 8.9 mm respectively. Further actual vs. planned femoral resections include distal lateral 7.2 vs. 6.7 mm; posterior medial 8.3 vs. 8.9 mm; and posterior lateral 6.2 vs. 6.8 mm. The actual vs. planned tibial resections recorded include medial 6.4 vs. 6.3 mm and lateral 8.3 vs. 8.2. The planned vs. actual bony cuts are strongly correlated, and highly predictive for all 6 measured cuts (p=<.001). No intraoperative complications occurred.

Average KSS improved from 45.9 to 81.4, and KSS Function Score improved from 57.7 to 73.5 at 6 weeks postoperative visit. There were no thromboembolic complications. Two patients had a post-operative infection requiring surgical intervention.

Post-operative alignment was 179.36° (range 175°–186°) for all patients. Alignment was neutral, within 3° in 95.9% of patients. There were only 4 outliers with maximal post-operative angulation of 6°.

In conclusion, these early results demonstrate efficacy of CT-based PSI for TKA. The surgery can be performed efficiently, accurately, and safely. Furthermore, excellent short term clinical and radiographic results can be achieved.

Previously, we demonstrated the effectiveness of phase symmetry (PS) features for segmentation and localisation of bone fractures in 3D ultrasound for the purpose of orthopaedic fracture reduction surgery. We recently proposed a novel real-time image-processing method of bone surface extraction from local phase features of clinical 3D B-mode ultrasound data. We are presenting a computational study and outline of planned future developments for integration into a computer aided orthopaedic surgery framework.

Our image-processing pipeline was implemented on three platforms: (1) using an existing PS extraction C++ algorithm on a dual processor machine with two Xeon x5472 CPUs @ 3GHz with 8GB of RAM, (2) using our proposed method implemented in MATLAB running on the same machine as in (1), and (3) CUDA implementation of our method implemented on a professional GPU (Nvidia Tesla c2050).

We ran these three implementations 20 times each on 128×128×128 scans of the iliac crest in live subjects and repeated the processing for 15 combinations of filter parameters. On average, the C++ implementation took 1.93s per volume, the MATLAB implementation 1.28s, and the GPU implementation 0.08s. Overall, our GPU implementation is between 15 and 25 times faster than the state-of-the-art method.

Implementing our algorithm on a professional grade GPU produced dramatic computational improvements, enabling full 3D datasets to be processed in an average time of under 100ms, which, if proven in a clinical system, would allow for near real time computation. We are currently implementing our algorithm on an open research sonography platform (Ultrasonix Medical Corporation). High-powered graphic cards can easily be integrated into the open architecture of this system, thus enabling GPU computation on diagnostic medical and research ultrasound devices.

We intend to use this platform within a surgical environment for accurate and automatic detection of fractures and as an integral part of our developing computer aided surgery pipeline, in which we use PS features to register intra-operative ultrasound to pre-operative computed tomography images.

We share our experiences in designing a complete simulator prototype and provide the technological basis to determine whether an immersive medical training environment for vertebroplasty is successful. In our study, the following key research contributions were realised: (1) the effective combination of a virtual reality surgical simulator and a computerised mannequin in designing a novel training setup for medical education, and (2) based on a user-study, the quantitative evaluation through surgical workflow and crisis simulation in proving the face validity of our immersive medical training environment.

Medical simulation platforms intend to assist and support surgical trainees by enhancing their skills in a virtual environment. This approach to training is consistent with an important paradigm shift in medical education that has occurred over the past decade. Surgical trainees have traditionally learned interventions on patients under the supervision of a senior physician in what is essentially an apprenticeship model. In addition to exposing patients to some risk, this tends to be a slow and inherently subjective process that lacks objective, quantitative assessment of performance. By proposing our immersive medical simulator we offer the first shared experimental platform for education researchers to design, implement, test, and compare vertebroplasty training methods.

We collected feedback from two expert and two novice residents, on improving the teaching paradigm during vertebroplasty. In this way, this limits the risks of complications during the skill acquisition phase that all learners must pass through. The complete simulation environment was evaluated on a 5-pt Likert scale format: (1) strongly disagree, (2) disagree, (3) neither agree nor disagree, (4) agree, and (5) strongly agree. When assessing all aspects of the realism of the simulation environment, specifically on whether it is suitable for the training of technical skills team training, the participating surgeons gave an average score of 4.5.

Additionally, we also simulated a crisis simulation. During training, the simulation instructor introduced a visualisation depicting cement extravasation into a perivertebral vein. Furthermore, the physiology of the computerised mannequin was influenced by the instructor simulating a lung embolism by gradually lowering the oxygen saturation from 98% to 80% beginning at a standardised point during the procedure. The simulation was stopped after the communication between the surgeon and the anaesthetist occurred which determined their acknowledgment that an adverse event occurred. The realism of this crisis simulation was ranked with an average score of 4.75.

To our knowledge this is the first virtual reality simulator with the capacity to control the introduction of adverse events or complication yielding a wide spectrum of highly adjustable crisis simulation scenarios. Our conclusions validate the importance of incorporating surgical workflow analysis together with virtual reality, human multisensory responses, and the inclusion of real surgical instruments when considering the design of a simulation environment for medical education. The proposed training environment for individuals can be certainly extended to training medical teams.

Rotational positioning of the femoral component during the realisation of a total knee arthroplasty is an important part of the surgical technique and remains a topic of discussion in the literature. The challenge of this positioning is important because it determines the anatomical result and its effect on the flexion gap and clinical outcome mainly through its impact on patellofemoral alignment. The intraoperative identification of the axis transepicondylar visually or by navigation is not reliable or reproducible. The empirical setting to 3 ° of external rotation, the procedure used to cut or dependent or independent is not adapted to the individual variability of knee surgery. Indeed, the angle formed by the posterior condylar axis and trans-epicondylar axis is subject to large individual variations.

The authors propose a novel technique, using the navigation of the trochlea to determine the rotation of the femoral component. The principle is to consider the rotation of the femoral implant as “ideal” when it makes a perfect superposition of the prosthetic trochlea with the native bony trochlea on patellofemoral view at 60° when planning the femur. The bottom of the prosthetic trochlea is well aligned with the trochlea groove, identified during the trochlear morphing, itself perpendicular to the trans-epicondylar axis. The authors hope to encourage centering patellofemoral joint prosthesis, thus favoring the original kinematics of the extensor apparatus.

The purpose of this study is to demonstrate firstly, that the navigation of the trochlea is a reliable and reproducible method to adjust the rotation of the femoral component relative to the trans-epicondylar axis taken as reference and the other, the rotation control by this method is not done at the expense of the balance gap in flexion.

It is a bi-centric study prospective, nonrandomised, including continuously recruited 145 patients in two French centers. All patients were included in the year 2010 and have all been revised three months and one year of surgery. The average age of patients was 71 years [53, 88]. It was made no selection of patients who have all been included consecutively in the study and in the two centres. In all cases, the rotation of the femoral component was determined by intraoperative navigation of the trochlea. The authors compared the alpha angle (angular divergence between the plane and the posterior bicondylar plane and trans-epicondylar axis) obtained by this method and that calculated on a pre-or postoperative scan. The authors also measured the space between femur and tibia internal and external side in flexion (90°) to assess the impact on the balance in flexion.

There is excellent agreement between the results obtained by the method of CT scan and the trochlear navigation technique. In addition, this technique allows us to achieve a quadrilateral space gap in flexion. The authors found large individual variation in the distal femoral epiphyseal torsion (angle alpha). They demonstrate that the navigation of the trochlea is a reliable and reproducible method to adjust the rotation of the femoral component relative to the trans-epicondylar axis taken as reference and provides, concomitantly, a quadrilateral space gap in flexion.

Musculoskeletal loading plays an important role in the primary stability of THA. There are about 210,000 primary THA interventions p.a. in Germany. Consideration of biomechanical aspects during computer-assisted orthopaedic surgery is recommendable in order to obtain satisfactory long-term results. For this purpose simulation of the pre- and post-operative magnitude of the resultant hip joint force R and its orientation is of interest. By means of simple 2D-models (Pauwels, Debrunner, Blumentritt) or more complex 3D-models (Iglič), the magnitude and orientation of R can be computed patient-individually depending on their geometrical and anthropometrical parameters. In the context of developing a planning module for computer-assisted THA, the objective of this study was to evaluate the mathematical models. Therefore, mathematical model computations were directly compared to in-vivo measurements obtained from instrumented hip implants.

With patient-specific parameters the magnitude and orientation of R were model-based computed for three patients (EBL, HSR, KWR) of the OrthoLoad-database. Their patient-specific parameters were acquired from the original patient X-rays. Subsequently, the computational results were compared with the corresponding in-vivo telemetric measurements published in the OrthoLoad-database. To obtain the maximum hip joint load, the static single-leg-stance was considered. A reference value for each patient for the maximum hip load under static conditions was calculated from OrthoLoad-data and related to the respective body weights (BW).

On average there are large deviations of the results for the magnitude (Ø=147%) and orientation (Ø=14.35° too low) of R obtained by using Blumentritt's model from the in-vivo results/measurements. The differences might be partly explained by the supplemental load of 20% BW within Blumentritt's model which is added to the input parameter BW in order to consider dynamic gait influences. Such a dynamic supplemental load is not applied within the other static single-leg-stance models. Blumentritt's model assumptions have to be carefully reviewed due to the deviations from the in-vivo measurement data.

Iglič's 3D-model calculates the magnitude (Ø17%) and the orientation (Ø49%) of R slightly too low. For the magnitude one explanation could be that his model considers nine individual 3D-sets of muscle origins and insertion points taken from literature. This is different from other mathematical models. The patient-individual muscle origin and insertion points should be used.

Pauwels and Debrunner's models showed the best results. They are in the same range compared to in-vivo data. Pauwels's model calculates the magnitude (Ø5%) and the orientation (Ø28%) of R slightly higher. Debrunner's model calculates the magnitude (Ø1%) and the orientation (Ø14%) of R slightly lower.

In conclusion, for the orientation of R, all the computational results showed variations which tend to depend on the used model.

There are limitations coming along with our study: as our previous studies showed, an unambiguous identification of most landmarks in an X-ray (2D) image is hardly possible. Among the study limitations there is the fact that the OrthoLoad-database currently offers only three datasets for direct comparison of static single leg stance with in-vivo measurement data of the same patient. Our ongoing work is focusing on further validation of the different mathematical models.

Knee biomechanics after total knee arthroplasty (TKA) has received more attention in recent years. One critical biomechanical aspect involved in the workflow of present TKA strategies is the intraoperative optimisation of ligament balancing. Ligament balancing is usually performed with passive flexion-extension in unloaded situations. Medial and lateral ligaments strains after TKA differ in loaded flexion compared to unloaded passive flexion making the passive unloaded ligament balancing for TKA questionable. To address this problem, the development of detailed and specific knowledge on the biomechanical behavior of loaded knee structures is essential. Stress MRI techniques were introduced in previous studies to evaluate loaded joint kinematics. Previous studies captured the knee movement either in atypical loading supine positions, or in upright positions with help of inclined supporting backrests being insufficient for movement capture under full body weight-bearing conditions.

In this work, we proposed a combined MR imaging approach for measurement and assessment of knee kinematics under full body weight-bearing in single legged stance as a first step towards the understanding of complex biomechanical aspects of bony structures and soft tissue envelope. The proposed method is based on registration of high resolution static MRI data (supine acquisition) with low resolution data, quasi-static upright-MRI data (loaded flexion positions) and was applied for the measurement of tibio-femoral kinematics in 10 healthy volunteers. The high resolution MRI data were acquired using a 1.5T Philips-Intera system, while the quasi-static MRI data (full bodyweight-bearing) was obtained with a 0.6T Fonar-Upright™ system. Contours of femur, tibia, and patella from both MRI techniques were extracted using expert manual segmentation. Anatomical surface models were then obtained for the high resolution static data.

The upright-MRI acquisition consisted of Multi-2D, quasi-static sagittal scans each including 4 slices for each flexion angle. Starting with full knee extension, the subjects were asked to increase the flexion in 4–5 steps to reach the maximum flexion angle possible under space and force limitations. Knees were softly padded for stabilisation in lateral-medial direction only in order to reduce motion artifacts. During the upright acquisition the subjects were asked to transfer their bodyweight onto the leg being imaged and maintain the predefined flexion position in single legged stance. The acquisition at every flexion angle was obtained near the scanner's isocenter and takes ∼39 seconds.

The anatomical surface models of the static data were each registered to their corresponding contours from the weight-bearing scans using an iterative closest point (ICP) based approach. A reference registration step was carried out to register the surface models to the full extension loaded position. The registered surfaces from this step were then considered as initial conditions for next ICP registration step. This procedure was similarly repeated to ensure successful registrations between subsequent flexion acquisitions.

The tibio-femoral kinematics was calculated using the joint coordinate system (JCS). The combined MR imaging approach allows the non-invasive measurement of kinematics in single legged stance and under physiological full weight-bearing conditions. We believe that this method can provide valuable insights for TKA for the validation of patient-specific biomechanical models.

Currently, standard total knee arthroplasty (TKA) procedures focus on axial and rotational alignment of the prosthesis components and ligament balancing. Even though TKA has been constantly improved, TKA patients still experience a significantly poorer functional outcome than total hip arthroplasty patients.

Among others, complications can occur when knee kinematics (active/passive) after TKA do not correspond with the physiological conditions. We hypothesised that the Q-angle has a substantial impact on active joint kinematics and should be taken into account in TKA. The Q-angle can be influenced by the position of the tibial tuberosity (TT). A pathological position of the TT is commonly related to patellofemoral pain and knee instability. A clinically well accepted surgical treatment is the TT medialisation which causes a change in the orientation of the patella tendon and thus alters the biomechanics of the knee. If active and passive knee kinematics differs, this aspect should be considered for implant design and positioning. Therefore we investigated the sensitivity of active knee kinematics related to the position of the TT by using a complex multi-body model with a dynamic simulation of an entire gait cycle.

The validated model has been implemented in the multi-body simulation software AnyBody and was adapted for the present issue. The knee joint is represented by articulating surfaces of a standard prosthesis and contains 6 degrees of freedom. Intra-articular passive structures are implemented and the muscular apparatus consists of 159 muscles per leg. As input parameter for the sensitivity analysis, the TT was translated medially 9 mm and laterally 15 mm from the initial position in equidistant steps of 3 mm.

The Q-angle was about 10° in the initial position, which lies in the physiological range. It changed approximately 2.5° with a gradual shift of 3 mm, confirming the impact of the individual TT position on active knee kinematics. The tibiofemoral kinematics, particularly the internal/external rotation of the tibia was significantly affected. Lateralisation of the TT decreased the external rotation of the tibia, whereas a medialisation caused an increase. During contralateral toe off the external rotation was +7.5° for a medial transfer of 9 mm and −1.4° for a lateral transfer of 15 mm, respectively. The differences in external rotation were almost zero for low flexion angles, correlating with the activation pattern of the quadriceps muscle: the higher the activation of the quadriceps, the greater were the changes in kinematics.

In conclusion, knee kinematics are strongly affected by the Q-angle which is directly associated with the position of the TT. As active kinematics may show significant differences to passive kinematics, intraoperative ligament balancing may result in a suboptimal ligament situation during active motion. Since the Q-angle varies widely between gender and patients, the individual situation should be considered. The optimisation of the model and further experimental validation is one aspect of our ongoing work.

Gap planning in total knee arthroplasty (TKA) navigation is critically concerned. Osteophyte is one of the contributing factors for gap balancing in TKA. The osteophyte is normally removed before gap planning step. However, the posterior condylar osteophyte of femur is sometimes removed during the flexion gap preparation or may not be removed at all depends on individual case. This study attempts to investigate on how posterior condylar osteophyte affects on gap balancing and limb alignment during operation.

The study was conducted on 35 varus osteoarthritis knees with posterior condylar osteophyte and undergone on TKA navigation. All knees were measured by CT scan for the size of posterior condylar osteophyte according to its width. Extension gap, flexion gap width, and limb alignment were measured by using the tension device with distraction force of 98 N on both medial and lateral sides under computer assisted surgery. The measuring of extension gap, flexion gap width, and limb alignment was undertaken before and after the posterior condylar osteophyte removal.

This study reveals that the mean of the size of posterior condylar osteophyte after removal is 8.96 mm. The posterior condylar osteophyte has an effect on the increasing of medial extension gap and lateral extension in average 0.74 ± 0.72 mm. and 0.42 ± 0.67 mm. respectively. It also increases 0.71 ± 1.00 mm. in medial flexion gap and 0.97 ± 1.47 mm. in lateral flexion gap. After the posterior condylar osteophyte removal the mean of varus deformity is decreased 0.90° ± 1.14 ° while the mean of extension angle of sagittal limb alignment is increased 1.61°±1.69°. There is also a significant relationship between the size of posterior condylar osteophyte and the increasing of lateral flexion gap and also with the varus deformity decreasing. If the size of posterior condylar osteophyte is increased 10 mm. the lateral flexion gap will be increased 1.15 mm. and varus deformity will be decreased 0.75 degree.

Over the last decade Computer Assisted Orthopaedic Surgery (CAOS) has emerged particularly in the area of minimally invasive Uni-compartmental Knee Replacement (UKR) surgery. Image registration is an important aspect in all computer assisted surgery including Neurosurgery, Cranio-maxillofacial surgery and Orthopaedics. It is possible for example to visualise the patient's medial or lateral condyle on the tibia in the pre-operated CT scan as well as to locate the same points on the actual patient during surgery using intra-operative sensors or probes. However their spatial correspondence remains unknown until image registration is achieved. Image registration process generates this relationship and allows the surgeon to visualise the 3D pre-operative scan data in-relation to the patient's anatomy in the operating theatre.

Current image registration for most CAOS applications is achieved through probing along the articulating surface of the femur and tibial plateau and using these digitised points to form a rigid body which is then fitted to the pre-operative scan data using a best fit type minimisation. However, the probe approach is time consuming which often takes 10–15 minutes to complete and therefore costly. Thus the rationale for this study was to develop a new, cost effective, contactless, automated registration method which would entail much lesser time to produce the rigid body model in theatre from the ends of the exposed bones. This can be achieved by taking 3D scans intra-operatively using a Laser Displacement Sensor.

A number of techniques using hand held and automated 3D Laser scanners for acquiring geometry of non-reflective objects have been developed and used to scan the surface geometry of a porcine femur with four holes drilled in it. The distances between the holes and the geometry of the bone were measured using digital vernier callipers as well as measurements acquired from the 3D scans. These distances were measured in an open source package MESHLAB version 1.3.2 used for the interpretation, post-processing and analysis of the 3D meshes. Absolute errors ranging from of 0.1 mm to 0.4 mm and the absolute percentage errors ranging from 0.48% to 0.75% were found. Additionally, a pre-calibrated dental model was scanned using a 650 nm FARO™ Laser arm using the global surface registration approach in Geomagic Qualify package and our 3D Laser scanner. Results indicate an average measurement error of 0.16 mm, with deviations ranging from 0.12mm to −0.13 mm and a standard deviation of 0.2 mm. We demonstrated that by acquiring multiple scans of the targets, complete 3D models along with their surface texture can be developed. The overall scanning process, including time required for the post-processing of the data requires less than 20 minutes and is a cost-efficient approach. Moreover, the majority of that time was used in post processing the acquired data which could be potentially reduced through the use of bespoke application software. This project has provided proof of concept for a new automated, non-invasive and cost efficient registration technique with the potential of providing a quantitative assessment of the articular cartilage integrity during lower limb arthroplasty.

Few previous studies showed that the conventional total knee replacement (TKR) has affection to the same side of talar tilt (TT). We expected to prevent this problem by the computer-assisted (CAS) TKR. The purpose of this study was to compare between pre and post-operative talar tilt and ankle clinical assessment on the CAS TKR and the Conventional TKR in 28 patients (56 knees) whom underwent bilateral TKR.

28 patients, 56 knees, whom underwent both CAS total knee replacement (TKR) and conventional total knee replacement (TKR), in both knees, with the combination of Gap Balance and Measurement Resection techniques performed by one surgeon (P. Sriphirom) at Rajavithi Hospital, Bangkok. The post-operative has a 12 months follow-up for ankle radiographic finding by tibiotalar angle (TTA), tibial articular surface angle (TAS), and talar tilt (TT) = (TAS-TTA) and for ankle clinical assessment by foot functional index (FFI) from pre-operation and post-operation from both groups. The study also compares the CAS TKR with the Conventional TKR for pre-operation and post-operation.

56 knees, 28 patients, mean age = 67.79 years whom underwent bilateral TKR by the Conventional group and the CAS group had pre-operative TT (TT = TAS − TTA). The Conventional group = 1.5 (−5, 8), the CAS group = 0.5 (−5, 8), P value = 0.65. On post-operative TT the Conventional group = 0.0 (−5, 3), the CAS group = 1.0 (−3, 8), the P value = 0.4. The comparison of pre-operative TT and post-operative TT in the Conventional group, the P value = 0.01. On pre-operative TT and post-operative TT in the CAS group, the P value = 0.65. TT was significantly different in the Conventional group but was not significantly different in the CAS group. The ankle clinical assessment by foot functional index (FFI), which are (1) Pain, (2) Difficulty living, and (3) Daily life activity limitation. The pre-operative FFI in the Conventional group = 1.85 (0.81, 6.88) and pre-operative FFI in the CAS group = 1.91 (0.24, 66.5), the P value = 0.57. The post-operative FFI in the Conventional group = 1.68 (0.24, 7.0) and post-operative FFI in the CAS group = 1.65 (0.24, 6.76), the P value = 0.04, which showed a significantly different between the post-operative FFI from both groups. In the Conventional group the post-operative FFI was not significantly different from pre-operative FFI, the P value = 0.2 but for the CAS group the post-operative FFI was not significantly different from pre-operative FFI, the P value = 0.04.

This study showed that the conventional TKR effected to post-operative talar, tilt but CAS TKR has less effect and was not significantly different to ankle joint. Finally, the study needs to be conducted on more patients and to be observed on a longer term follow-up.

Recently, electromagnetic tracking for surgical procedures has gained popularity due to its small sensor size and the absence of line-of-sight restrictions. However, EM trackers are susceptible to measurement noise. Indeed, depending on the environment, measurement uncertainties may vary considerably. Therefore, it is important to characterise electromagnetic measurement systems when used in a fluoroscopy setting. The purpose of our study is to assess decoupled static electromagnetic measurement errors in position and orientation, without adding potential interference, in the presence of fluoroscopic imaging equipment.

Using an Aurora electromagnetic tracking system (Northern Digital, Waterloo, Canada), 5 degrees of freedom measurements were collected in a working space located midway between the source and the receiver of a flat-panel 3D fluoroscope (Innova 4100, GE Healthcare, Buc, France) emitting X-rays. In addition, to determine potential EM distortion from X-rays, electromagnetic measurement accuracies, as a function of position, were compared before, during, and after X-ray emissions. To decouple position and orientation errors, two scaffold devices were designed. Their centre was placed approximately at X = −50, Y = 0, and Z = −300 mm in the EM tracker's global coordinate system. First the positioning scaffold was used to assess the position and orientation measurement uncertainties as a function of position. Next, the orienting scaffold was used to assess the position and orientation measurement uncertainties as a function of orientation. Then, a least-squares method was employed to register the path position measurements to the known geometry of the scaffolds. As a result, the position accuracy was defined as the Euclidean distance between the registered and the ground truth positions. Finally, the orientation accuracy was defined as the difference between two direct angles: the angle between two measured consecutive paths, and the angle of the corresponding ground truth.

When translating the sensor using the positioning scaffold, the resulting position accuracy was characterised by a mean of 3.2 mm. Similarly, when rotating the sensor using the orienting scaffold, the resulting orientation accuracy was characterised by a mean of 1.7 deg. As for the “cross-displacement” errors, the orientation accuracy as a function of position had a mean of 1.8 deg. Likewise, the position as a function of orientation had a mean of 4.0 mm. Position and orientation accuracies – as a function of position, before, during, and after emission of X-rays – indicate that there was no significant interference by the presence of an X-ray beam on the EM measurements.

This work provides evidence that placing the EM system into X-ray beams does not affect EM measurement accuracies. Nevertheless, the fluoroscope itself significantly increases the EM measurement errors. Careful analysis of the EM measurement distribution errors suggests that associated uncertainties are predictable and preventable. In essence, EM tracking is promising for orthopedic procedures that may require the use of a fluoroscope.

Direct arthroscopic cartilage assessment remains the gold standard. It is recommended by the International Cartilage Repair Society (ICRS) to systematically assess cartilage status during arthroscopy but this examination is highly subjective, poorly reproducible, time-consuming and lacks precision. US has shown good potential for cartilage evaluation but is limited in extra-articular conditions. It is also difficult to manually maintain a perfect perpendicularity between the ultrasound beam and the curved surface of the cartilage. Therefore, we have developed a navigated intra-articular US probe (NIAUS). The NIAUS probe could contribute to a more exhaustive and direct intra-articular evaluation of cartilage integrity. Navigation enables control of the US echo pulse perpendicularity and its localisation relative to the joint. Our objectives were (1) to evaluate automatic cartilage thickness measurement with the NIAUS probe in comparison to high definition MRI on cartilage samples, (2) to generate a real-time 3D map of the thickness parameter on samples, and (3) to demonstrate the feasibility of a full NIAUS probe cartilage scan on a specimen distal femur in arthroscopic conditions.

The NIAUS probe is a 4.5mm probe consisting of a 64 element linear array transducer with a central frequency of 13 MHz and a motorised head. The NIAUS probe is navigated. The rotating US head position is controlled by navigation in order to enable constant perpendicular acquisition of cartilage. The NIAUS probe thickness measurement (1) was evaluated on bone and cartilage samples of 9 tibial plateaus. The cartilage thickness was measured via automatic segmentation. Each sample was also scanned in a high resolution MRI (4,7 Tesla) and cartilage thickness was semi-automatically extracted for comparison. During NIAUS scan, (2) a visual 3D map was generated. Finally (3), we scanned two distal femurs with the NIAUS probe in arthroscopic navigated conditions on one specimen and a 3D map of the distal femur thickness was generated in real time.

NIAUS thickness measurement (1) absolute error compared to MRI for 9 plateaus ranged from 0.15mm to 0.32mm in median, p25=0.07 and 0.18, p75=0.28 and 0.5 respectively. 3D maps of the sample cartilage thickness (2) were generated in real time during the NIAUS scan. The cadaveric procedure (3) was conducted without incident via the two anterior portals and a 3D map of the distal femurs cartilage thickness was generated.

A precise US arthroscopic grading and scoring of cartilage during surgery could help for better standardisation, prediction of results and making “live” decisions. Our in vitro experiment shows good results compared to MRI for NAIUS cartilage thickness measurement, and our cadaveric study demonstrate the feasibility of a NIAUS scan in arthroscopic conditions. Our results are encouraging and a clinical trial is currently being designed for preliminary in vivo NIAUS evaluations of cartilage thickness compared to MRI.

Total hip replacement is one of the standard procedures in orthopedic surgery. Due to various reasons revision surgery (RTHR) has to be performed. In case of the revision of a cemented prosthesis stem, the bone cement has to be removed from the femoral cavity.

Conventionally the cement removal is done manually using a hammer, chisel or burr under X-ray control, causing a considerable radiation exposure for patient and the surgeon. Furthermore the risk of undesirable bone damage is high due to bad sight and access conditions, leading to complications and prolongation of the intervention. Different approaches addressing the mentioned problems were proposed, but did not achieve acceptance in clinical practice due to disadvantages concerning process controllability. Another possibility is to use a robot guided milling tool. However, to be able to control it typically a 3D reconstruction of the cement volume to be removed is necessary. Existing approaches use computed tomography based measurements combined with previously implanted markers, fluoroscopy or ultrasound based measurements, all requiring additional process steps prior to the surgery or to the actual cement removal.

The ICOS project (Impedance Controlled Surgical Instrumentation, Chair of Medical Engineering, RWTH Aachen University) investigates the approach of electrical impedance controlled, robot assisted bone cement removal, based on real time cement detection during the removal process without radiation exposure or the necessity of prior imaging or marker implanting steps. Therefore the electrical impedance is measured between the milling head mounted on the surgical mini-robot MINARO and one or more electrodes attached to the skin of the patient's thigh. An impedance variation mainly results from decreasing thickness of bone cement near the milling head contact point due to material removal. Hence the proposed method does not generate a 3D volume allowing for a milling path generation prior to the process. It requires a strategy for real time path generation using only the limited local information. Up to now, only the differentiation between bone cement and bone, and thus the cement-bone interface breakthrough, is reliably detectable. To efficiently use this information for the tool path generation, generic a-priori knowledge of the bone cement shape after removal of the prosthesis stem is used.

The concept for impedance controlled milling has been verified in first lab trials. For impedance measurements during the cement removal process the robots milling tool has been modified to achieve electrical insulation of the milling head. A strategy for online adaptive robot path planning has been implemented and tested in a Matlab/Simulink based process simulation. For all data sets a cement removal rate of about 90% with a bone removal of approximately 3% was achieved. These results confirm that it is generally possible to use only the limited local information for automated cement removal. Future work aims for a practical evaluation of the algorithm using real impedance measurement values.

This work has been funded by the German Ministry for Education and Research (BMBF) in the framework of the ICOS project under grant No. BMBF 13EZ1005.

Barriers to the adoption of unicompartmental knee arthroplasty (UKA) by new consultants could be explained by its higher revision rate, to which mal-positioned components contribute. The aim of this study was to determine whether robotic technology enables inexperienced surgeons to perform accurate UKAs when compared to current conventional methods

After randomisation, sixteen trainees who had never performed UKAs performed three medial UKAs (Corin Uniglide), one per week, on dry-bone simulators by either robotic (Sculptor RGA) or conventional methods. They were instructed to match a universal 3D-CT based pre-operative plan that would result from a UKA based on the conventional jigs and operating guide. The knees were laser scanned and software used to compare the planned and actual implant positions. Feedback was given to trainees between attempts. Translational and rotational positioning errors were measured in all six degrees of freedom for both components

At all attempts robotic medial UKAs were more accurate in both translational and rotational alignments for both components reaching statistical significance (p<0.005) at all attempts for rotational errors. Considering outliers, the maximum rotational errors of the robot group was 9° and 7° for the tibial and femoral components respectively. For the conventional group this reached 18° and 16° for the tibial and femoral components respectively

Robotic technology allows inexperienced surgeons to perform medial UKAs on dry bone models with acceptable accuracy and precision on their first attempt. Conventional jigs do not. The adoption of robotic technology might provide new consultants with the confidence to offer UKAs to their patients by limiting the inaccuracies inherent in conventional equipment.

Surgical training has been greatly affected by the challenges of reduced training opportunities, shortened working hours, and financial pressures. There is an increased need for the use of training system in developing psychomotor skills of the surgical trainee for fracture fixation. The training system was developed to simulate dynamic hip screw fixation. 12 orthopaedic senior house officers performed dynamic hip screw fixation before and after the training on training system. The results were assessed based on the scoring system that included the amount of time taken, accuracy of guide wire placement and the number of exposures requested to complete the procedure. The result shows a significant improvement in amount of time taken, accuracy of fixation and the number of exposures after the training on simulator system. This was statistically significant using paired student t-test (p-value <0.05).

Computer navigated training system appears to be a good training tool for young orthopaedic trainees The system has the potential to be used in various other orthopaedic procedures for learning of technical skills aimed at ensuring a smooth escalation in task complexity leading to the better performance of procedures in the operating theatre.

Knee kinematics are altered by total knee arthroplasty (TKA) both intentionally and unintentionally. Knowledge of how and why kinematics change may improve patient outcome and satisfaction through improved implant design, implant placement or through rehabilitation.

In the present study we imaged and compared the 6 degree-of-freedom (DOF) patellofemoral (PF) and tibiofemoral (TF) kinematics of 9 pre-TKA subjects to the kinematics of 15 post-TKA subjects (Zimmer NexGen LPS implants) using a novel sequential-biplanar radiographic protocol that allowed imaging the postoperative patellofemoral joint under weightbearing throughout the range of motion, which has not been done previously to our knowledge.

There were clear, statistically significant differences between the pre-TKA and post-TKA kinematics: for the TF joint, the tibia was more posterior and inferior (max 20 mm and 15 mm, respectively) in the post-TKA group compared to the pre-TKA group (p<0.001), and had neutral alignment in the post-TKA group compared to varus alignment (max 9°) in the pre-TKA group (p<0.001). For the PF joint, the patella was shifted more posteriorly and medially, and tilted more medially in the post-TKA group compared to the pre-TKA group (p<0.001). There were no significant differences in PF superior/inferior translation and flexion/extension (p>0.5). Both groups showed differences from normal kinematics, based on the literature.

The kinematic differences are likely due to a combination of surgical, implant and patient factors. To investigate this further, we imaged the 9 pre-TKA subjects a minimum one year after their surgery; analysis of these data is in progress. Computed tomography (CT) scans and quality of life surveys were also taken before and after surgery. By comparing the preoperative and postoperative kinematics and shape for the same subjects, and analysing the interrelationships amongst these, we aim to determine if a different implant shape or different component positioning could create more normal kinematics, resulting in a better clinical outcome.

Inserting screws into the vertebral pedicles is a challenging step in spinal fusion and scoliosis surgeries. Errors in placement can lead to neurological complications. The more experienced the surgeon, the better the accuracy of the screw placement. A physical training system would provide residents with the feel of performing pedicle cannulation before operating on a patient. The proposed system consists of realistic bone models mimicking the geometry and material properties of typical patients, coupled with a force feedback probe. The purpose of the present study was to determine the forces encountered during pedicle probing to aid in the development of this training system.

We performed two separate investigations: [1] 15 participants (9 expert surgeons, 3 fellows and 3 residents) were asked to press a standard pedicle awl three times onto a mechanical scale, blinded to the force, demonstrating what force they would apply during safe pedicle cannulation and during unsafe cortical breach; [2] three experienced surgeons used a standard pedicle awl fitted with a one-degree of freedom load cell to probe selected thoracolumbar vertebrae of eight cadaveric specimens to measure the forces required during pedicle cannulation and deliberate breaching. A total of 42 pedicles were tested.

Both studies had wide variations in the results, but were in general agreement. Cannulation (safe) forces averaged approximately 90 N (20 lb) whereas breach (unsafe) forces averaged approximately 135–155 N (30–35 lb). The lowest average forces in the cadaveric study were for pedicle cannulation, averaging 86 N (range, 23–125 N), significantly lower (p<0.001) than for anterior breach (135 N; range, 80–195 N); medial breach (149 N; range, 98–186 N) and lateral breach (157 N; range, 114–228 N). There were no significant differences between the breach forces (p>0.1). Cannulation forces were on average 59% of the breach forces (range, 19–84%) or conversely, breach forces were 70% higher than cannulation forces.

To our knowledge, these axial force data are the first available for pedicle cannulation and breaching. A large range of forces was measured, as is experienced clinically. Additional testing is planned with a six-degree-of-freedom load cell to determine all of the forces and moments involved in cannulation and breaching, throughout the thoracolumbar spine. These results will inform the development of a realistic bone model as well as a breach prediction algorithm for a physical training system for spine surgery.

Metal-on-metal hip resurfacing arthroplasty (MoMHRA) has been a popular alternative treatment for young patients with hip osteoarthritis. Despite its advantages over total hip arthroplasty, the use of MoMHRA remains controversial. Achieving the correct positioning of the prosthetic is a concern due to the difficulty and novelty of this procedure. Furthermore, it has been reported that post-operative management using 2D radiographs contains high degrees of variance leading to poor detection of prosthetic malpositioning. In order to compensate for the lack of available technology, current literature has suggested the use of blood metal ion levels as indirect predictors of prosthetic malpositioning due to the abnormal release of metal ions, particularly Chromium and Cobalt, as a result of increase wear and tear. The purpose of this study was to determine whether 2D/3D registration technology can report prosthetic orientation in vivo and, to establish whether 3D technology can accurately deduce prosthetic wear by correlating prosthetic angles with metal ion counts.

To begin this study, post-operative x-rays (n=72) were used as the two-dimensional media to measure acetabular orientation. Only the acetabular component was examined in this study and acetabular orientation was defined as the function of inclination and version angles. Virtual three-dimensional models of the native, pre-operative pelvises and the acetabular implant were generated and were manually superimposed over the post-operative x-ray images according to anatomical landmarks. A manual 2D/3D registration program was specifically designed for this task. Inclination and version angles of the 2D/3D registered product were measured. Post-operative CT models, which offer the most accurate depiction of the prosthetic in vivo, were generated for validation. Contrary to the study's hypotheses and current literature, no significant difference was observed between 2D vs. 2D/3D vs. CT data, suggesting that 2D and 2D/3D measurements were similar to the results of the gold standard CT model (although 2D/3D measurements were more precise compared to 2D media). Furthermore, statistical analyses revealed no significant correlation in either 2D or 2D/3D compared to metal ion levels, although a stronger trend was demonstrated using 2D/3D measurements. These results are suggestive that 2D/3D registered measurements are equivocal to those using the conventional 2D x-ray and, manual 2D/3D registered measurements do not demonstrate greater efficacy in predicting prosthetic wear. Moreover, the data from this study also revealed insignificant correlations between the angles of acetabular orientation and metal ion release. Combined angles within and beyond the acceptable ranges for inclination (30°–50°) and version (5°–20°) angles did not produce significant trends with metal ion release. These results lead to the paradoxical conclusion that acetabular orientation does not influence prosthetic wear. The findings of this study are inconsistent with the reports in current literature and further investigation is required.

The purpose of this study was to compare intraoperative varus-valgus laxities in total knee arthroplasty [TKA] using either a single-radius femoral design or multi-radius femoral design.

56 TKAs were performed by using a single radius femoral design (Scorpio NRG, SR group) and 59 TKAs were performed by using a multi-radius femoral design (Zimmer NexGen, MR group), both with a minimum of 1-year follow-up. We compared intra-operative varus-valgus laxities at 0°, 30°, 60°, 90° of flexion using the navigation system (Orthopilot, Aesculap, Tuttlingen, Germany). A series of clinical outcomes were evaluated at the time of the latest follow-up including HSS, WOMAC, VAS score during stair climbing.

At 30°, 60° of flexion, the mean total varus-valgus laxities in SR group (6.2 ± 3.5° at 30° of flexion and 6.8 ± 1.5° at 60° of flexion) were significant less than those in MR group (9.2 ± 4.3° at 30° of flexion and 8.3 ± 3.8° at 60° of flexion) (p=0.027 and p=0.042, respectively). In the clinical results, there was not significant difference.

The single-radius femoral designs for TKA showed evidently less intra-operative mid-flexion stability compared with the multi-radius femoral design. However clinical outcomes revealed no other significant dissimilarity on HSS, WOMAC and VAS scores during stair climbing.

The purpose of this study was to compare the laxity, radiological and clinical outcomes of TKA that performed using the navigation system and using the conventional technique at least 10-year follow-up.

47 navigational TKAs and 45 conventional TKAs were included for this study. Varus-valgus laxities were measured on the stress radiographs. The radiological measurements with regard to the mechanical axis, the inclination of the femoral and tibial components, femoral posterior condylar off-set difference and radiolucency were compared. The clinical evaluations were performed using ROM, WOMAC and KS score.

There was no significant difference in the total laxity. However, more than 10° of total laxity was significantly reduced in the navigation group (1 knee in the navigation group and 6 knees in the conventional group). The mean of mechanical axis was not statistically different between two groups. But, the outlier numbers of mechanical axis in the two groups was significantly different. The difference in ROM was not observed between the two groups. HSS, WOMAC, KS scores were significantly better in the navigation group.

The navigation system can provide good stability, improved alignment accuracy of the lower extremity and better clinical results compared with conventional technique.

We hypothesised that the excellent alignments achieved in UKA using a navigation system(NA-MIS UKA) would improve mid-term clinical results versus UKA without a navigation system(MIS-UKA). The clinical results and the component alignment accuracies of NA-MIS UKA and MIS UKA were compared after a minimum follow-up of five years.

56 UKAs in the navigation group and 42 UKAs in conventional group were included. The radiological measurements with regard to the mechanical axis, the inclination of the femoral and tibial components, and radiolucent line or loosening were evaluated and compared between two groups. The clinical evaluations were performed using ROM, WOMAC, HSS and pain score.

A significant inter-group difference was found in terms of WOMAC or HSS, pain scores. In the sagittal inclination of the femoral and tibial components, radiolucent line, there were no statistical differences between two groups. However, the outlier numbers at mechanical axis, the mean of coronal inclination of the femoral and tibial component in the two groups was significantly different.

The navigation system in UKA can provide improved alignment accuracy of the lower extremity, also there were significant differences in functional outcomes after 5 year-follow-up.

We undertook this study to compare the flexion stabilities, the clinical outcomes, and complications in cases of TKA using either the robotic technique (ROB-TKA) or navigation-assisted technique (NA-TKA).

Robot group (53 knees) and navigation group (56 knees) that underwent TKA for osteoarthritis were assessed for varus and valgus laxity at 90° of knee flexion after a minimum three-year follow-up. These evaluations included KS, WOMAC scores, and ROM. To evaluate flexion stability, varus and valgus laxities at 90° of knee flexion were measured using stress radiographs.

KS and WOMAC scores were significantly improved at last follow-up. However, no significant difference was found between the ROB-TKA and NA-TKA groups for any clinical outcome parameter. No significant intergroup differences were found in mechanical axis or coronal alignments and the mean varus laxities. No significant difference was found for varus-valgus imbalance at 90° of knee flexion. Complications differed in the two groups but none of the cases were severe enough to warrant a revision.

Both robotic and navigation assisted TKAs were found to restore good coronal leg and prosthesis alignments and good flexion stabilities. However, clinical knee scores and flexion stabilities were no better in short term for robot assisted TKA than for navigation assisted TKA.

Surgical navigation systems enable surgeons to carry out surgical interventions more accurately and less invasively, by tracking the surgical instruments inside human body with respect to the target anatomy. Currently, optical tracking (OPT) is the gold standard in surgical instrument tracking because of its sub-millimeter accuracy, but is constrained by direct line of sight (LOS) between camera sensors and active or passive markers. Electromagnetic tracking (EMT) is an alternative without the requirement of LOS, but subject to environmental ferromagnetic distortion. An intuitive idea is to integrate respective strengths of them to overcome respective weakness and we aim to develop a tightly-coupled method emphasising the interactive coupled sensor fusion from magnetic and optical tracking data. In order to get real-time position and orientation of surgical instruments in the surgical field, we developed a new tracking system, which is aiming to overcome the constraints of line-of-sight and paired-point interference in surgical environment. The primary contribution of this study is that the LOS and point correspondence problems can be mitigated using the initial measurements of EMT, and in turn the OPT result can provide initial value for non-linear iterative solver of EMT sensing module.

We developed an integrated optical and electromagnetic tracker comprised of custom multiple infrared cameras, optical marker, field generator and sensing coils, because the current commercial optical or magnetic tracker typically consists of unchangeable lower level proprietary hardware and firmware. For the instrument-affixed markers, the relative pose between passive optical markers and magnetic coils is calibrated. The pose of magnetic sensing coils calculated by electromagnetic sensing module, can speed up the extraction of fiducial points and the point correspondences due to the reduced search space. Moreover, the magnetic tracking can compensate the missing information when the optical markers are temporarily occluded. For magnetic sensing subsystem comprised of 3-axis transmitters and 3-axis receiving coils, the objective function for nonlinear pose estimator is given by the summation of the square difference between the measured sensing data and theoretical data from the dipole model. Non-linear optimisation is computational intensive and requires initial pose estimation value. Traditionally, the initial value is calculated by equation-based algorithm, which is sensitive to noise. Instead, we get the initial value from the measurement of optical tracking subsystem. The real-time integrated tracking system was validated to have tracking errors about 0.87mm. The proposed interactive and tightly coupled sensor-fusion of magnetic-optical tracking method is efficient and applicable for both general surgeries as well as intracorporeal surgeries.

Despite of the significance of computed tomography (CT) images in surgery planning and guidance, CT scans are not always applicable due to high radiation exposure, particularly risky for children and youth. It is critical to reduce radiation exposure for high sensitive candidates and statistical atlas based approach has therefore been an alternative with minimal radiation exposure.

We addressed the aforementioned challenges through statistical atlas constructions, 3D atlas to 2D radiography registration to get patient-specific models with minimal radiations and multiple-objective optimisation for planning the treatments. Statistical atlas can be employed to construct the global reference map. The atlas then can be registered to a pair of intra-operative fluoroscopy images for constructing a patient-specific model. In this way, we can reduce the radiation exposure to the patients significantly. To characterise shape variations, a statistical shape atlas is constructed using Point Distribution Model, by which a mean shape, modes of shape variation and shape variation are obtained. To construct the patient specific model from the statistical atlas, 3D-2D registration is essential and a back-projected ray based 3D-2D Iterative Closest Point registration method is investigated. Then the treatment planning module for optimal insertion is investigated to avoid critical zone and unnecessary punctures.

The experiment shows the feasibility of the proposed method for atlas-based, image-guided orthopaedic interventions using minimal radiograph and optimal planning. The proposed framework can be extended to other potential applications and one example is for periacetabular osteotomy, particularly for young females which is of great importance to minimise radiation dose during surgical planning and navigation.

Over the last few years low dose digital radiography (DR) has all but replaced traditional chemical image processing. This appears to have created a paradigm shift in the suitability of intraoperative radiographic guidance for total hip arthroplasty. It is the purpose of this publication to describe our preferred technique and assess its reliability in achieving the desired parameters of a successful total hip arthroplasty.

A consecutive prospective evaluation of 150 primary total hip arthroplasties employing intraoperative digital radiography was carried out. An anteroposterior pelvic radiograph with the patient in the lateral decubitus position was obtained for all hips. The orientation of the intraoperative film was matched to that of the preoperative pelvic radiograph. The image was taken after placement of the acetabular component and best estimate of femoral trial size, position, and head and neck length. The DR system produced an image within 6 seconds of exposure. This trial radiograph was then used to make adjustments. Given that the cassette does not have to be moved for image processing, a precise anteroposterior film was obtained by simply adjusting the operating table. Two to three minutes were allotted for each radiograph. Corrections to stem size, cup position, screw length and position, limb length, and offset were made based on this intraoperative radiograph. The final intraoperative image was then compared to a postoperative standard radiograph in supine position at 2 weeks after total hip arthroplasty to verify the accuracy of intraoperative digital radiography. Abduction angle, limb length, offset, and canal fit and fill were assessed for confirmation of the validity of the intraoperative imaging technique.

Acetabular abduction angle was determined with a mean of 43 degrees (range, 35 to 48 degrees). The intraoperative measurement was within 3 degrees of the postoperative measurement in all cases. Adjustment of acetabular cup orientation was performed 10% of the time based on the intraoperative radiograph. Apposition was within 2 mm 100% of the time. Re-seating of the cup was carried out in one hip only. Femoral component was neutral in 92% and between 3 and 5 degrees of varus in 8%. Femoral component was upsized 55% of the time. Intraoperatively measured limb length discrepancy and offset were within 3 mm of the postoperative measurement in all hips.

Intraoperative digital imaging is a reliable tool for achieving the desired radiographic results in THA. The technique is efficient and affordable. The high rate of success in this series suggests that this technology should contribute to a paradigm shift in the standard of care in total hip arthroplasty.

To develop a useful surgical navigation system, accurate determination of bone coordinates and thorough understanding of the knee kinematics are important. In this study, we have verified our algorithm for determination of bone coordinates in a cadaver study using skeletal markers, and at the same time, we also attempted to obtain a better understanding of the knee kinematics.

The research was performed at the Medical Simulation Center of Tzu Chi University. Optical measurement system (Polaris® Vicra®, Northern Digital Inc.) was used, and reflective skeletal markers were placed over the iliac crest, femur shaft, and tibia shaft of the same limb. Two methods were used to determine the hip center; one is by circumduction of the femur, assuming it pivoted at the hip center. The other method was to partially expose the head of femur through anterior hip arthrotomy, and to calculate the centre of head from the surface coordinates obtained with a probe. The coordinate system of femur was established by direct probing the bony landmarks of distal femur through arthrotomy of knee joint, including the medial and lateral epicondyle, and the Whiteside line. The tibial axis was determined by the centre of tibia plateau localised via direct probing, and the centre of ankle joint calculated by the midpoint between bilateral malleoli. Repeated passive flexion and extension of knee joint was performed, and the mechanical axis as well as the rotation axis were calculated during knee motion.

A very small amount of motion was detected from the iliac crest, and all the data were adjusted at first. There was a discrepancy of about 16.7mm between the two methods in finding the hip centre, and the position found by the first method was located more proximally. When comparing the epicondylar axis to the rotation axis of the tibia around knee joint, there was a difference of 2.46 degrees. The total range of motion for the knee joint measured in this study was 0∼144 degrees. The mechanical axis was found changing in an exponential pattern from 0 degrees to undetermined at 90 degrees of flexion, and then returned to zero again. Taking the value of 5 degrees as an acceptable range of error, the calculated mechanical axis exceeded this value when knee flexion angle was between 60∼120 degrees.

The discrepancy between the hip centres calculated from the two methods suggested that the pivoting point of the femur head during hip motion might not be at the center of femur head, and the former location seemed closer to the surface of head at the weight bearing site. Under such circumstances, the mechanical axis obtained through circumduction of the thigh might be 1∼2 degrees different from that obtained through the actual center of femur head. During knee flexion, the mechanical axis also changed gradually, and this could be due to laxity of knee joint, or due to intrinsic valgus/varus alignment. However, the value became unreliable when the knee was at a flexion angle of 60∼120 degrees, and this should be taken into account during navigation surgery.

Unicondylar knee arthroplasty (UKA) is a treatment for osteoarthritis when the disease only affects one compartment of the knee joint. The popularity in UKA grew in the 1980s but due to high revision rates the usage decreased. A high incidence of implant malalignment has been reported when using manual instrumentation. Recent developments include surgical robotics systems with navigation which have the potential to improve the accuracy and precision of UKA.

UKA was carried out using an imageless navigation system – the Navio Precision Freehand Sculpting system (Blue Belt Technologies, Pittsburgh, USA) with a medical Uni Knee Tornier implant (Tornier, Montbonnot Saint Martin, France) on nine fresh frozen cadaveric lower limbs (8 males, 1 females, mean age 71.7 (SD 13.3)). Two users (consultant orthopaedic surgeon and post doctoral research associate) who had been trained on the system prior to the cadaveric study carried out 4 and 5 implants respectively. The aim of this study was to quantify the differences between the planned and achieved cuts.

A 3D image of the ‘actual’ implant position was overlaid on the planned implant image. The errors between the ‘actual’ and the planned implant placement were calculated in three planes and the three rotations. The maximum femoral implant rotational error was 3.7° with a maximum RMS angular error of 2°. The maximum femoral implant translational error was 2.6mm and the RMS translational error across all directions was up to 1.1mm. The maximum tibial implant rotational error was 4.1° with a maximum RMS angular error was 2.6°. The maximum translational error was 2.7mm and the RMS translational error across all directions was up to 2.0mm.

The results were comparable to those reported by other robotic assistive devices on the market for UKA. This technology still needs clinical assessment to confirm these promising results.

Total knee arthroplasty (TKA) has been established as a successful procedure for relieving pain and improving function in patients suffering from severe knee osteoarthritis for several decades now. It involves removing bone from both the medial and lateral compartments of the knee and sacrificing one or both of the cruciate ligaments. This in turn is likely to have an impact on the patients' functional outcome. In subjects where only one compartment of the knee joint is affected with osteoarthritis then unicondylar knee arthroplasty (UKA) has been proposed as an alternative procedure to TKA. This operation preserves the cruciate ligaments and removes bone only from the affected side of the joint. As a result there is the possibility of an improved functional outcome post surgery. UKA has been associated with faster recovery, good functional outcome in terms of range of motion and it is bone sparing compared to TKA. However, the biggest obstacle to UKA success is the high failure rates.

The aim of this study was to compare the functional outcome of computer navigated TKA (n=60) and UKA (n=42) patients 12 month post operation using flexible electrogoniometry. Flexible electrogoniometry was used to investigate knee joint kinematics during gait, slopes walking, stair negotiation, and when using standard and low chairs. Maximum, minimum and excursion knee joint angles were calculated for each task.

The biomechanical assessment showed statistically significant improvements in the knee kinematics in terms of maximum (p<0.0004) and excursion (p<0.026) knee joint angles in the UKA patient group compared to the navigated TKA group for each of the functional tasks. There was no statistically significant difference between the minimum knee joint angles during these functional tasks (p>0.05).

Therefore, UKA patients were showed to have a significantly better functional outcome in terms of the maximum knee joint angle during daily tasks. A limitation of this study is that it compares two cohorts rather than two randomised groups. It is expected that UKA patients will have a better functional outcome. Our results suggest that for patients with less severe knee osteoarthritis, UKA may offer a better functional outcome than the more common surgical option of TKA. The recent advancements in computer assisted and robotic assisted knee arthroplasty has the possibility to improve the accuracy of UKA and therefore led to the increase in confidence and in usage in a procedure which has the potential to give patients a superior functional outcome.

Knee biomechanics after total knee arthroplasty (TKA) has received more attention in recent years. One critical biomechanical aspect involved in the workflow of present TKA strategies is the intraoperative optimisation of ligament balancing. Ligament balancing is usually performed with passive flexion-extension in unloaded situations. Medial and lateral ligaments strains after TKA differ in loaded flexion compared to unloaded passive flexion making the passive unloaded ligament balancing for TKA questionable. To address this problem, the development of detailed and specific knowledge on the biomechanical behaviour of loaded knee structures is essential. Stress MRI techniques were introduced in previous studies to evaluate loaded joint kinematics. Previous studies captured the knee movement either in atypical loading supine positions, or in upright positions with help of inclined supporting backrests being insufficient for movement capture under full body weight-bearing conditions.

In this work, we proposed a combined MR imaging approach for measurement and assessment of knee kinematics under full body weight-bearing in single legged stance as a first step towards the understanding of complex biomechanical aspects of bony structures and soft tissue envelope. The proposed method is based on registration of high resolution static MRI data (supine acquisition) with low resolution data, quasi-static upright-MRI data (loaded flexion positions) and was applied for the measurement of tibio-femoral kinematics in 10 healthy volunteers. The high resolution MRI data were acquired using a 1.5T Philips-Intera system, while the quasi-static MRI data (full bodyweight-bearing) was obtained with a 0.6T Fonar-Upright™ system. Contours of femur, tibia, and patella from both MRI techniques were extracted using expert manual segmentation. Anatomical surface models were then obtained for the high resolution static data.

The upright-MRI acquisition consisted of Multi-2D, quasi-static sagittal scans each including 4 slices for each flexion angle. Starting with full knee extension, the subjects were asked to increase the flexion in 4–5 steps to reach the maximum flexion angle possible under space and force limitations. Knees were softly padded for stabilisation in lateral-medial direction only in order to reduce motion artifacts. During the upright acquisition the subjects were asked to transfer their bodyweight onto the leg being imaged and maintain the predefined flexion position in single legged stance. The acquisition at every flexion angle was obtained near the scanner's isocenter and takes ∼39 seconds.

The anatomical surface models of the static data were each registered to their corresponding contours from the weight-bearing scans using an iterative closest point (ICP) based approach. A reference registration step was carried out to register the surface models to the full extension loaded position. The registered surfaces from this step were then considered as initial conditions for next ICP registration step. This procedure was similarly repeated to ensure successful registrations between subsequent flexion acquisitions.

The tibio-femoral kinematics was calculated using the joint coordinate system (JCS). The combined MR imaging approach allows the non-invasive measurement of kinematics in single legged stance and under physiological full weight-bearing conditions. We believe that this method can provide valuable insights for TKA for the validation of patient-specific biomechanical models.

The surgical management of musculoskeletal tumours is a challenging problem, particularly in pelvic and diaphyseal tumour resection where accurate determination of bony transection points is extremely important to optimise oncologic, functional and reconstructive options. The use of computer assisted navigation in these cases could improve surgical precision.

We resected musculoskeletal tumours in fifteen patients using commercially available computer navigation software (Orthomap 3D). Of the eight pelvic tumours, three underwent biological reconstruction with extra corporeal irradiation; three endoprosthetic replacement (EPR) and two required no bony reconstruction. Four diaphyseal tumours had biological reconstruction. Two patients with proximal femoral sarcoma underwent extra-articular resection and EPR. One soft tissue sarcoma of the adductor compartment involving the femur was resected with EPR.

Histological examination of the resected specimens revealed tumour free margins in all cases. Post-operative radiographs and CT show resection and reconstruction as planned in all cases. Several learning points were identified related to juvenile bony anatomy and intra-operative registration.

The use of computer navigation in musculoskeletal oncology allows integration of local anatomy and tumour extent to identify resection margins accurately. Furthermore, it can aid in reconstruction following tumour resection. Our experience thus far has been encouraging.

NavioPFS™ is a hand-held robotic technology for bone shaping that employs computer control of a high-speed bone drill. There are two control modes – one based on control of exposure of the cutting bur and another based on the control of the speed of the cutting bur. The unicondylar knee replacement (UKR) application uses the image-free approach in which a mix of direct and kinematic referencing is used to define all parameters relevant for planning. After the bone cutting plan is generated, the user freely moves the NavioPFS handpiece over the bone surface, and carves out the parts of the bone targeted for removal. The real-time control loop controls the depth or speed of cut, thus resulting in the planned bone preparation. This experiment evaluates the accuracy of bone preparation and implant placement on cadaveric knees in a simulated clinical setting.

Three operators performed medial UKR on two cadaver specimens (4 knees) using a proprietary implant design that takes advantage of the NavioPFS approach. In order to measure the placement of components, each component included a set of 8 conical divots in predetermined locations. To establish a shared reference frame, a set of four fiducial screws is inserted in each bone. All bones were cut using a 5 mm spherical bur. Exposure Control was the primary mode of operation for both condylar cuts – although the users utilised Speed Control to perform some of the more posterior burring activities and to prepare the peg holes. Postoperatively, positions of conical divots on the femoral and tibial implants and on the respective four fiducial screws were measured using a Microscribe digitising arm in order to compare the final and the planned implant position.

All implants were placed within 1.5 mm of target position in any particular direction. Maximum translation error was 1.31 mm. Maximum rotational error was 1.90 degrees on a femoral and 3.26 degrees on a tibial component. RMS error over all components was 0.69mm/1.23 degrees.

This is the first report of the performance of the NavioPFS system under clinical conditions. Although preliminary, the results are overall in accordance with previous sawbones studies and with the reports from comparable semi-active robotic systems that use real time control loop to control the cutting performance.

The use of NavioPFS in UKR eliminates the need for conventional instrumentation and allows access to the bone through a reduced incision. By leveraging the surgeon's skill in manipulating soft tissues and actively optimising the tool's access to the bone, combined with the precision and reproducibility of the robotic control of bone cutting, we expect to make UKR surgery available to a wider patient population with isolated medial osteoarthritis that might otherwise receive a total knee replacement. In addition to accurate bone shaping with a handheld robotically controlled tool, NavioPFS system for UKR incorporates a CT-free planning system. This approach combines the practical advantages of not requiring pre-operative medical images, while still accurately gathering all key information, both geometric and kinematic, necessary for UKR planning.

NavioPFS™ unicondylar knee replacement (UKR) system combines CT-free planning and navigation with robotically assisted bone preparation. In the planning procedure, all relevant anatomic information is collected under navigation, either directly with the point probe or by kinematic manipulation. In addition to key anatomic landmarks and the maps of the articulating surfaces of the femur and tibia, kinematic assessment of the joint laxity is performed. Relative positions of femur and tibia are collected through the flexion/extension range, with the pressure applied to fully stretch the collateral ligament on the operative side.

The planning procedure involves three stages: (1) the implant sizing and initial placement,(2) balancing of the gap on the operative side and (3) evaluating the contact points for the recorded flexion data and the planned placement of implants. In the gap balancing stage, the implants are repositioned until they allow for a positive gap, preferably uniform, throughout the entire range of flexion. UKR was planned and prepared on six cadaver knees with the help of NavioPFS system. All knees were normal without any signs of osteoarthritis. Two surgeons have performed medial UKR (4+2), and the bones were prepared using the NavioPFS handheld robotic tool.

Postoperatively, we have re-used the data collected during the planning procedure to compare the kinematic (gap balancing) performance of the used implant with three different commercial implant designs. All implants were placed in the orientation recommended by the respective manufacturer, sized to best fit the original bone geometry, and repositioned optimally balance the gap curve through the entire flexion range, without any negative gaps (overlaps). Since these were nonarthritic cadaver knees, the intent was to restore the original preoperative varus/valgus in neutral (zero) flexion.

The three implant designs demonstrated variable degree of capability to uniformly balance the knee gap over the entire range of flexion. The first implant (A) required a gap larger than 2 mm in one case out of six, the second (B) was capable of producing the positive gap curve under 2mm of gap in all six cases, and the third (C) required a gap larger than 2 mm in 3 (50%) of cases. All three designs exhibit the reduced gap space in mid (30°–90°) flexion.

Despite the best attempts, the artificial implants do not fully replicate the healthy knee kinematics. This is manifested by increased tightness in the mid flexion. In order to balance the gap in mid flexion, additional laxity has to be allowed in full flexion, extension, or both. NavioPFS allows for patient specific planning that takes into account this information, only available intraoperatively. This kind of evaluation on a patient specific basis is a very important planning tool and it allows the insight on the implant performance in mid flexion, typically not available using conventional planning techniques. It can also help in improving kinematic performance of future implant designs.

Femoral components used in total hip arthroplasty (THA) rely on good initial fixation determined by implant design, femoral morphology, and surgical technique. A higher rate of varus alignment may be of specific concern with short stem implants. Varus placement in uncemented femoral components has been proven not to be detrimental to clinical function; though long-term bone remodeling secondary to varus placement remains unknown. The goal of this study was to compare the clinical and radiographic outcomes in patients who underwent THA with one of two uncemented short stem metaphyseal engaging implants at minimum two-year follow-up.

A review of 105 patients (average age 65 years; BMI 29 kg/m²) who underwent a total of 109 primary THAs using the ABG II short stem femoral implant (Stryker, Mahwah, NJ), and 160 hips in 149 patients (average age 70 years; BMI 28 kg/m²) who underwent primary THA using the Citation stem (Stryker, Mahwah, NJ). The same surgeon (SDS) performed all surgeries through a less invasive posterolateral approach. Pre-operative and post-operative Harris Hips Scores (HHS) and WOMAC scores were collected. Digital radiograph analysis was performed including measuring the stem alignment relative to the femoral shaft. A stem placed with greater than 5 degrees of varus was considered to be in varus.

There was no significant difference in demographics (age, gender or BMI) or pre-operative HHS and WOMAC scores between the two groups. Follow-up HHS was 90 (range 63–100) and 94 (range 70–100) for the ABG II and Citation groups, respectively. Follow-up WOMAC scores were 10 (range 0–24) and 6 (range 0–43) for the ABG II and Citation groups, respectively. There was no statistically significant difference in any of the scores between the two groups (p>0.05).

When looking at AP radiographs for postoperative intramedullary alignment, none of the ABG II implants were placed in varus (>5°), while a small number (4.9%) of Citation implants were implanted in varus alignment. No significant difference was observed in the alignment between the two groups (p>0.05). Average post-op alignment with the ABG was 1.10° (range −4.7–4.9°) and 0.88° (range −4.5–8.9°) with the Citation.

The clinical results associated with the use of these stems in patients of all ages and bone types have been identical to those achieved by uncemented stems of standard length. Both implants in this study had excellent clinical and functional results in primary THA after a minimum 24-month follow up. In addition, postoperative radiographic analysis demonstrated that these stems can be reliably and reproducibly placed in neutral alignment despite their short length. The lateral flare on the Citation implant led to a greater number of implants in varus alignment, potentially affecting offset and leg-length, yet the relative increased incidence compared to the ABG II was not significant. Further research is needed in designing implants that optimize proximal femoral contact while maintaining alignment and overall hip kinematics.

Distal femur resection for correction of flexion contractures in total knee arthroplasty (TKA) can lead to joint line elevation, abnormal knee kinematics and patellofemoral problems. The aim of this retrospective study was to establish the contribution of soft tissue releases and bony cuts in the change in maximum knee extension in TKA.

Data were available for 209 navigated TKAs performed by a single surgeon using a medial approach. All patients had the same cemented implant, either CR or PS, which both required a minimum thickness of 10 mm for the tibial and 9mm for the femoral component. Intra-operatively pre- and post-implant extension angles and the size of bone resection were collected using a commercial navigation system. The thickness of polyethylene insert and the extent of soft tissue release performed (no release, moderate and extensive release) were collected from the patient record. A univariate linear regression model was used to predict change in maximum extension from pre- to post-implant.

The mean bone resection was 19mm (15 to 28 mm) (Figure 1).79% of polyethylene inserts were 10mm thick (10 to 16 mm). 71% of knees had no soft tissue release. The mean increase in extension was 5° (11° decrease to 23° increase) (Figure 1). The analysis showed that bone cuts (p<0.001), soft tissue release (p=0.001) and insert thickness (p=0.010) were all significant terms in the model (r²_adj=0.170). This model predicted that carrying out a TKA with 19mm bone cuts, 10mm insert and no soft tissue release would give 4.2° increase in extension. It predicted that a moderate release would give a 2.8° increase in extension compared to no release, with an extensive release giving 3.9° increase over no release. For each mm increase in bone cuts the model predicted a 0.8° increase in extension and for each mm increase in insert size a decrease extension by 1.1°.

Preoperative FFC contracture is a frequent condition in TKA that the surgeon has to address either by resecting more bone or by extending soft tissue release to increase the extension gap to fit the knee implant. This analysis of 209 navigated knee arthroplasty showed that both options are suitable to increase the extension gap. The modelling results show that in general to increase maximum extension by the same as an extensive soft tissue release that bone cuts would have to be increased by 4–5mm. However this model only accounted for 17% of the variation in change in extension pre- to post-implant so is poor at predicting outcomes for specific patients. The large variation in actual FFC correction indicates that this relies on factors other than bone cuts and soft tissue releases as quantified in this study.

The amount of time spent in theatre by trainees is decreasing and therefore it seems crucial to fully optimis e these to enable adequate training. Trainees at the beginning of their practice, despite their exposure to surgery, cannot always take advantages of the surgical procedure they are assisting with. An obvious example of this is total hip replacement during posterior approach. Although the posterior approach and less invasive or minimally invasive approaches are certainly beneficial for patients, they are very difficult for a young trainee to comprehend, as they spend most of the time hanging onto the retractor without or rarely seeing the important anatomic steps of the procedure. Our goal was to develop a tool that would help a trainee to fully see and understand the surgical steps of total hip replacement during a posterior approach.

To enable visualisation of the operation from the senior surgeon's perspective we developed a device to film the surgery and output the video feed to a screen. The prototype used an HD Replay XD1080 camera connected to a WDHI Xenta transmitting dongle (transmitting frequency −5.8 GHz), with an onboard 6600 mAh external Li-Mh battery providing 1A of current to the system. The Replay camera was fixed to the surgeon's ventilation helmet, and took its power from the battery supplying both the fan system and the transmitting unit. The surgeon can then clip both of these items to his belt and the connecting wires and cables run up his back. The device provided a Full HD video output of the surgery from the surgeon's perspective. The receiving unit used a Xenta WHDI wireless receiver with HDMI and DVI-I/D connections allowing the video to be displayed on any screen in the operating room with these connections.

The prototype has been trialled by the senior author and was successful in allowing the direct surgeon's view of the procedure to be displayed on a screen in the theatre so that other staff involved in the operation could see it.

Although the use of virtual training, presentations and video are essential to training, surgical training still relies greatly upon surgical assistance. The introduction of an intra-operative video feedback device would enable trainees to observe the operation from a first-person perspective which could lead to a considerable reduction in the amount of training time required, as well as a better understand of the specific surgical steps in a procedure. This would be particularly use for operations where a trainee assists the surgeon from the opposite side of the operating table, for example when undergoing total hip replacement during posterior approach. We can also envision this device also being used by surgeons to monitor their trainees when operating, and perhaps to keep a record of the operations undertaken in an establishment for archiving or assessment.

The Columbus® knee system was designed as a standard knee implant that allows high flexion without the need for additional bone resection. The aim of this retrospective study was to investigate the correlation between the maximum flexion achieved at five years and the slope of the tibial component. The hypothesis was that increased slope would give increased flexion.

The study design was a retrospective cohort study at a single centre. The inclusion criterion was having had a navigated cemented Columbus primary TKA implanted between March 2005 and December 2006 using the image free OrthoPilot® navigation system (Aesculap, Tuttlingen, Germany) in our institution. Follow-up had been carried out at review clinics by an independent arthroplasty team. Patient-related data had been recorded either in case notes, the departmental proprietary database or as radiographic images. In addition to demographics, five-year follow-up range of motion (ROM) was collected. All available radiographs on the national Picture Archiving and Communication System (Eastman Kodak Company, 10.1_SP1, 2006), whether taken at our institution or at the patient's local hospital, were analysed by a trainee orthopaedic surgeon (NCS) who was independent of the patients' care. Component position according to the Knee Society TKA scoring system was determined from the five-year review lateral x-ray. The tibial slope was calculated as 90° minus the angle of the tibial component so giving a posterior slope as a positive number and an anterior slope as a negative number. The correlation between maximum flexion angle and tibial slope was calculated. Further to this a subgroup of only CR prostheses and patients with BMI <35 were analysed for a relationship. The tibial slope of the group of patients having 90° or less of flexion (poor flexion) was compared to those having 110° or more (good flexion) using a t-test, as was the flexion of the those with BMI <30 to those with BMI > 35.

A total of 219 knees in 205 patients were identified. 123 had five-year radiograph and maximum flexion measurement available. Cohort demographics were mean age 68(8.6), mean BMI 32.0(5.9) and mean maximum flexion at five years of 101°(11°). The tibial slope angle showed variation around the mean of 2°(2.8°). There was no correlation between tibial slope and maximum flexion for either that whole cohort (r=-0.051, p=0.572, Figure 1b) or the subgroup of CR and BMI <35 patients (n=78, r = −0.089, p=0.438). The mean tibial slope of those patients having poor flexion was 2° (SD2.6°) and this was not significantly different to the mean for those with good flexion, 3° (SD3.1°) p=0.614. The mean flexion of those with BMI <30 was 100° (SD8.7°) and this was not significantly different to those with BMI >35, mean 101° (SD11.4°).

This study did not find any correlation between the tibial slope and maximum flexion angle in 123 TKAs at five year follow up. Further studies with a more accurate measurement of tibial slope should be carried out to confirm whether a relationship exists in the clinical setting.

In arthritic knees with severe valgus deformity Total Knee Arthroplasty (TKA) can be performed through medial or lateral parapatellar approaches. Many orthopaedic surgeons are apprehensive of using the lateral parapatellar approach due to lack of familiarity and concerns about complications related to soft tissue coverage and vascularity of the patella and the overlying skin. However surgeons who use this approach report good outcomes and no added complications. The purpose of our study was to compare outcomes following TKA performed through a medial parapatellar approach with those performed through a lateral parapatellar approach in arthritic knees with severe valgus deformity.

We conducted a retrospective review of patients from two consultants using computer navigation for all their TKAs. All patients with severe valgus deformities (Ranawat 2 & 3 grades) operated on between January 2005 and December 2011 were included. 66 patients with 67 TKAs fulfilled the inclusion criteria. Patients were group by approach; Medial = 34TKAs (34 patients) or Lateral = 33 TKAs (32 patients). Details were collected from patients' records, AP hip-knee-ankle (HKA) radiographs and computer navigation files. Outcome measures included lateral release rates, post-operative range of knee movements, long leg mechanical alignment measurements, post-operative Oxford scores at six weeks and one year, patient satisfaction and any complications. Comparisons were made between groups using t-tests.

The total cohort had a mean age of 69 years [42–82] and mean BMI of 29 [19–46]. The two groups had comparable pre-operative Oxford scores (Medial 41[27–56], Lateral 44 [31–60]) and pre-operative valgus deformity measured on HKA radiographs (Medial 13° [10°–27.6°], Lateral 12° [6°–22°]). Three patients in the Medial group underwent intra-operative lateral patellar release to improve patellar tracking. Seven patients in the Lateral group had a lateral condyle osteotomy for soft tissue balancing (one bilateral). There was no statistically significant difference between groups at one year follow up for maximum flexion (Medial 100° [78°–122°], Lateral 100° [85°–125°], p=0.42), fixed flexion deformity (Medial 1.2° [0°–10°], Lateral 0.9° [0°–10°], p=0.31) or Oxford score (Medial 23 [12–37], Lateral 23 [16–41], p=0.49). Similarly there was no difference in the patient satisfaction rates between the two groups at one year follow up. However there was a statistically significant difference in the mean radiographic post-operative alignment angle measurement (Medial 1.8° valgus [4° varus to 10° valgus], Lateral 0.3° valgus [5° varus to 7° valgus], p=0.02). One patient in the Medial group had a revision to hinged knee prosthesis for post-operative instability. There was no wound breakdown or patellar avascular necrosis noted in either of the groups.

The lateral parapatellar approach resulted in slightly better valgus correction on radiographs taken six weeks post-operatively. We found no major complications in the Lateral parapatellar approach group. Specifically we did not encounter any difficulties in closing the deep soft tissue envelope around the knee and there were no cases of patellar avascular necrosis or skin necrosis. Hence we conclude that lateral parapatellar approach is a safe and reliable alternative to the medial parapatellar approach for correction of severe valgus deformity in TKA.

Total knee arthroplasty is well documented to be a very successful operation, proper alignment and soft tissue balancing is important. Computer navigation for TKA has been available for more than 10 years. This paper reviews our outcomes and the lessons learned from CAS.

October 1, 2001 we preformed the first clinical case of a navigated TKA in North America. We tracked our early results at with 1 year of follow up of 150 navigated knee cases and compared there data to 50 non- navigated knees. Long standing lower extremity x-rays were measured to determine mechanical alignment. In 2011 we reviewed all cases to date to determine if there were pin site problems. In 2012 we looked at are recurvatum data. Oct 2011 was our 10^th year using the computer navigation system for TKA. We reviewed what we have learned and assess our outcome data on patients who were at least 9.5 years post surgery. All patients received long standing lower extremity x-rays pre-operatively and at 10 year follow up. Any problems or revisions were noted. Our early results will be compared to our 10 year results.

Our 1 year results showed no difference in clinical outcome or range of motion compared to the non-navigated group. The navigated knee group had better alignment; 52% were in neutral alignment, vs. 23% in the non-navigated group. Overall the navigated group, 80% of all alignment was within 1.5 degrees of neutral while the non-navigated groups 80 % of cases were between 5° valgus and 4° varus. Our data for 10 year follow up (range 9.5–10.5 years) is the similar to our early results. We have seen 42 patients, 44 knees. The alignment from long standing lower extremity x-rays, 53% were neutral or +/− 1°. Twenty eight knees of 43 were +/− 3°. There were 3 revisions in this small group. One was revised for a loose tibial base plate with osteolysis on the tibia and femur. The revision was 10 years after the index surgery. There were 2 other revisions, both for infection, were treated with a poly exchange and wash out. To date we have done 2030 navigated knee cases and our data shows that 13.9% demonstrate genu recurvatum. The range was 0.5° to 30°, 104 patients, 5.1% had more than 5° recurvatum. In the literature recurvatum rates are reported at about 1%. After reviewing all case to date in we did not observe any pin site problems.

CAS is still the main objective measure we have in the operating room to date. The advantages of CAS are it provides real time assessment of the true varus/valgus deformity, initial extension and medial/lateral soft tissue imbalance and anticipates final trial reduction. We are performing less soft tissue releases most likely because our tibia and femoral cuts are more precise. Our 10 year follow up data while encouraging requires more investigation.

Lower limb alignment after unicondylar knee arthroplasty (UKA) has a significant impact on surgical outcomes. The literature lacks studies that evaluate the limb alignment after lateral UKA or compare it to alignment outcomes after medial UKA, making our understanding of this issue based on medial UKA studies. Unfortunately, since the geometry, mechanics, and ligamentous physiology are different between these two compartments, drawing conclusions for lateral UKAs based on medial UKA results may be imprecise and misleading. The purpose of this study was to compare the risk for limb alignment overcorrection and the ability to predict postoperative limb alignment between medial and lateral UKA. We evaluated the results of mechanical limb alignment in 241 patients with unicompartmental knee osteoarthritis who underwent medial or lateral UKA; there were 229 medial UKAs and 37 lateral UKAs. Mechanical limb alignment was measured in standing long limb radiographs pre and post-operatively, intra-operatively it was measured using a computer assisted navigation system. Between the two cohorts, we compared the percentage of overcorrection and the difference between post-operative alignment and alignment measured by the navigation system. The percentage of overcorrection was significantly higher in the lateral UKA group (11%), when compared to the medial UKA group (4%), (p= 0.0001). In the medial UKA group, the mean difference between the intraoperative “virtual” alignment provided by the navigation system, and the post-operative, radiographically measured mechanical axis, was 1.33°(±1.2°). This was significantly lower than the mean 1.86° (±1.33°) difference in the lateral UKA group (p=0.019). Our data demonstrated an increased risk of mechanical limb alignment overcorrection and greater difficulty in predicting postoperative alignment using computer navigation, when performing lateral UKAs compared to medial UKAs.

Major aspects on long-term outcome in Total Knee Arthroplasty are the correct alignment of the implant with the mechanical load axis, the rotational alignment of the components as well as good soft tissue balancing. To reduce the variability of implant alignment and at the same time minimise the invasiveness different computer assisted systems have been introduced.

To achieve accuracy as high as those of a robotic system but with a pure mechanically adjustable cutting block, the Exactech GPS system has been developed. The new concept comprises a seamlessly planning and navigation screen with an integrated optical tracking system for fast and accurate acquisition and verification of anatomical landmarks within the sterile field as well as a tiny cutting guide for accurate transfer of the planned bone resections.

Using a conventional screwdriver the cutting block could be accurately aligned with the planned resection by controlling the current position of the cutting block on the navigation screen. To save time, to maximise the ease of use and to minimize the surgeon's mental workload during adjustment, a smart screwdriver (SSD) has been developed being able to automatically adjust the screws.

The basic idea of the smart screwdriver is to have a system providing an automatic transfer of the planned data to the cutting guide similar to a robotic system, but with the actuators separated from the kinematic. The use of the SSD is as simple as follows: After planning of the intervention and rigid fixation of the cutting guide on the bone, the surgeon simply connects sequentially the screwdriver to all screws of the cutting guide.

To further maximise the ease of use and to avoid a mix-up of different screws, an identification means has been integrated into the positioning screws as well as into the smart screwdriver. For an automated identification of the screws different technologies have been analysed as position tracking, optical recognition or wired/wireless electronics.

A first prototype without screw identification has been used successfully on 4 cadaver knees. All guide positions could be adjusted automatically using the SSD. However, the absence of screw identification required that the surgeon follows indications given by the computer to turn screws sequentially.

A second prototype of the smart screwdriver has successfully been built up and is able to identify the different positioning screws in less than 1s with high reliability. The identification is realised as inductive coupling of different small resonance circuits that are integrated into the screw heads and the screwdrivers tip.

To adjust the cutting guide from neutral to the planned position, the screws have to be adjusted by 5 mm in average. The rotational speed of the current SSD implementation is 2 rounds per second, resulting in a mean time of about 3.5 s for each screw adjustment. The rotational accuracy of the screwdriver is ±5°. Taking into account a thread of the positioning screws of 0.7 mm, the theoretical translational error is about ±0.01 mm. Looking at the angular accuracy, the maximum distance of the screws of the current setup of the cutting block of 15 mm results in an angular error of less than ±0.05°.

The internal fixation of scaphoid bone fractures remains technically difficult due to the size of the bone and its three- dimensional shape. Early rigid fixation, e.g with a screw, has been shown to support good functional outcome. In terms of stability of the fracture, biomechanical studies have shown a superior result with central screw placement in the scaphoid in comparison with an eccentric position, which can lead to delayed or non-union. Image-based navigation could be helpful for these cases. The main limitation of reference-based navigation systems is their dependence on fixed markers like used in modern navigation systems. Therefore it is limited in treatment of small bone fractures. In former experimental studies 20 artificial hand specimens were randomised into two groups and blinded with polyurethane foam: 10 were treated conventionally and 10 were image guided. For trajectory guidance a reduction of duration of surgery, radiation exposure and perforation rate compared to the conventional technique could be found. Accuracy was not improved by the new technique. The purpose of this study was to identify the possible advantages of the new guidance technique in a clinical setting.

In this prospective, non-randomised case series we tested the feasibility of the system into the accommodated surgical workflow. There was no control group. Three cases of scaphoid fractures were included. All of the patients were treated with a cannulated screw following K-wire placement via the percutaneous volar approach described. In addition, length measurements and screw sizes were determined using special features of the system. The performing surgeon and two attending assistant doctors (one assisting the surgical procedure, one handling the guidance system) had to rate the system following each procedure via a user questionnaire. They had to rate the system's integration in the workflow and its contribution to the success of the surgical procedure in percentages (0 %: totally unsuccessful; 100 %: perfect integration and excellent contribution). All of the clinical procedures were performed by the same surgeon.

The surgeons rated the system's contribution and integration as very good (91 and 94 % of 100 %). No adverse event occurred. An average of 1.3 trials ± 0.6 (1; 2) was required to place the K-wire in the fractured scaphoid bone. The dose-area product was 19 cGycm2 ± 3 (16; 22). The mean incision until suture time was 36.7 min ± 5.7 (30; 40). For clinical cases, the system was integrated and rated as very helpful by users.

The system is simple and can be easily integrated into the surgical workflow. Therefore it should be evaluated further in prospective clinical series.

There is an increasing prevalence of haptic devices in many engineering fields, especially in medicine and specifically in surgery. The stereotactic haptic boundaries used in Computer Aided Orthopaedic Surgery Unicomparmental Knee Arthroplasty (CAOS UKA) systems for assistive milling control can lead to an increase in the force required to manipulate the device; this study presented here has seen a several fold increase in peak forces between haptic and non-haptic conditions of a semi-active preoperative image system.

Orthopaedic Arthroplasty surgeons are required to apply forces ranging from large gripping forces to small forces for delicate manipulation of tools and through a large range of postures. There is also a need for surgeons to move around and position themselves to gain line of sight with the object of interest and to operate while wearing additional clothing such as the protective headwear and double gloves. These factors further complicate comparison with other ergonomic studies of other robotics systems. While robotics has been implemented to reduce fatigue in surgery one area of concern in CAOS is localised user muscle fatigue in high volume use.

In order to create the conditions necessary for the generation of fatigue in a realistic user experience, but in the time available for the participants, an extended period of controlled and prolonged cutting and manipulation of the robotic arm was needed. This pragmatic test requirement makes the test conditions slightly artificial but does indicate areas of high potential for fatigue when interacting with the system in high volume instances.

The surgeon-robotic system interaction was captured using 3 dimensional motion analysis and a force transducer embedded in the end effector of the robotic arm and modelled using an existing upper body model in Anybody software. The kinematic and force information allowed initial calculations of the interaction between the user and the Robotic system. Validation of the model was conducted using Electromyography assessment of activity and fatigue. Optimisation of the model sought to create an efficient cutting regime to reduce cutting time with reduced muscle force in an attempt to reduce users discomfort/fatigue while taking into account anthropometric variations in the users and minimising overall energy requirements, burr path length and maximum muscle force.

From the assessment of a small group of three surgeons with experience of the Robotic system there was little to no experience of above normal localised fatigue during small volume use of the system. Observation of these surgeons operating the robot state otherwise with examples of reactions to discomfort. There is also anecdotal evidence that fatigue becomes more problematic in higher volume work loads.

Time analysis from video footage gives a simple outcome measure of surgical practice against a measured model of use. The added detail that can be produced, over simply recording the usual surgical process data such as tourniquet times, allows us to identify and time the sequence of surgical procedures as stages, to describe issues, and the identification of idiosyncratic behaviours for review and comparison.

Makoplasty (Mako surgical corp. FL, US) partial knee operation times were compared using this technique with those from the Oxford (Biomet, IN, US) partial knee. Three experienced surgeons were observed over 19 Makoplasty procedures ([Consultant 1] 11, [Consultant 2] 5, [Consultant 3] 3) and 2 experienced surgeons over 11 Oxford partial knee procedures ([Consultant 1] 5, [Consultant 2] 6). Times were refined into separate stages that defined the major operative steps of both the Makoplasty and Oxford processes as used by the surgical team at the Glasgow Royal Infirmary, UK. The videos were reviewed for start and stop times for pre-defined actions that would be expected to be observed during each surgical process and from these stage lengths were calculated. For both the Oxford and Mako system 12 comparable stages were identified for comparison and the timing of the various episodes was tested for statistical significance using a Two-Sample, two tail, t-Test. assuming Equal Variances. [Stages: 1. Setup time, 2. Patient on table, 3. Skin incision, 4. Joint Prep, 5. Robot registration (Not in Oxford), 6. Tibial resection, 7. Femoral resection, 8. Trials, 9. Finishing, 10. Cementing and Washout, 11. Closure and dressing, 12. Off table]

The MAKOplasty procedures were on average longer than Oxfords by 27 minutes. This can largely be accounted for in the additional setup stage 4, where in addition to the usual joint preparation taking a couple of minutes approximately 17 minutes were spent in the MAKO cases undertaking image registration and in stage 5 where nearly five minutes were spent in setting up the robot in the MAKO cases.

In conclusion while operative times fell for the Makoplasties across the learning curve they remained elevated once the plateau was reached. It should be remembered that the surgeons had much less experience with the Makoplasty procedure and were undertaking a randomised clinical trial of outcome and hence were not minded to perform the surgery quickly but to the best of their ability and that this may account for some of the elongated surgical time. Indeed other Makoplasty surgeons report an average surgical time of 30–45 minutes per case and 6 cases per day. What is striking is that the additional steps of registration and robot positioning account for a large proportion of the differences and these are mitigated to some extent by quicker trialling of the implant and finishing of the cuts suggesting more confidence in the suitability of the cut surfaces. There is clearly a need to reduce the registration time to produce more cost effective surgeries.

In computer assisted orthopaedic surgery, intraoperative registration is commonly performed by fitting features acquired from the exposed bone surface to a preoperative virtual model of the bone geometry. In cases where the acquired spatial measurements are unreliable or have been inappropriately chosen, the registration result can degenerate. Current performance indicators, such as the root mean squared (RMS) error and the spatial distribution of the registered feature errors may not be sufficient to warn the surgeon of such a case.

In this study, statistical analysis is applied to the registration outcomes of perturbed variants of a collected point set. In this way, it is possible to assess the ability of the original set to represent the underlying surface, taking into account the distribution of the points as well as errors introduced during the acquisition process. Confidence measures are calculated to predict the reliability of the original registration result and therefore the robustness of the point set itself.

For proof of concept, this method has been tested in simulation with a CT-generated tibia model. The algorithm was used to identify the 10 best performing of a population of 1000 randomly generated point sets. All registration outcomes produced by these point sets were found to be superior to those resulting from sets of the same size produced manually using an optimised point-acquisition protocol. Preliminary results suggest that this method, alongside the standard RMS and residual point error distribution, may be used to provide the surgeon with a reliable indication of registration outcome in the operating room.

Unicompartmental knee arthroplasty (UKA) has been gaining popularity in recent years due to its perceived benefits over total knee replacements, such as greater bone preservation, reduced operating-room time, better postoperative range of motion and improved gait. However there have been failures associated with UKA caused by misalignment of the implants.

To improve the implant alignment a robotic guidance system called the RIO Robotic Arm has been developed by MAKO Surgical Corp (Ft. Lauderdale, FL). This robotic system provides real-time tactile feedback to the surgeon during bone cutting, designed to give improved accuracy compared to traditional UKA using cutting jigs and other manual instrumentation.

The University of Strathclyde in association with Glasgow Royal Infirmary has undertaken the first independent Randomised Control Trial (RCT) of the MAKO system against the Oxford UKA – a conventional UKA used in the UK. The trial involves 139 patients across the two groups.

At present the outcomes have been evaluated for 30 patients. 14 have received the MAKO unicompartmental knee arthroplasty and 16 the Oxford UKA. Both groups were seen 1 year post-operatively. Kinematic data was collected while subjects completed level walking using a Vicon Nexus motion analysis system. Three-dimensional hip, knee and ankle angles were compared between the two arthroplasty groups.

Our initial findings indicate that hip and ankle angles show no significant statistical difference, however there is a significant difference (p < 0.05) in the knee angles during the stance phase of gait. Data shows higher angles achieved by the MAKO group over the Oxford.

It would appear from our early findings that the MAKO RIO procedure with Restoris implants gives at least comparable functional outcome with the conventional Oxford system and may prove once our full sample is available for analysis to produce better stance phase kinematics with a more active gait pattern than the conventional Oxford procedure.

Further work includes analysing the data obtained from the patients in a number of other activities. These include a full biomechanical analysis of ascending and descending a flight of stairs, sit to stand and a deep knee lunge. The high demand/high flexion tasks in particular may reveal if there's an advantage to using the MAKO procedure over the Oxford. If there is a direct correlation between alignment and patient function then this effect could be more significant in the more demanding patient tasks.

Non-invasive assessment of lower limb mechanical alignment and assessment of knee laxity using navigation technology is now possible during knee flexion owing to recent software developments. We report a comparison of this new technology with a validated commercially available invasive navigation system.

We tested cadaveric lower limbs (n=12) with a commercial invasive navigation system against the non-invasive system. Mechanical femorotibial angle (MFTA) was measured with no stress, then with 15Nm of varus and valgus moment. MFTA was recorded at 10° intervals from full knee extension to 90° flexion. The investigator was blinded to all MFTA measurements. Repeatability coefficient was calculated to reflect each system's level of precision, and agreement between the systems; 3° was chosen as the upper limit of precision and agreement when measuring MFTA in the clinical setting based on current literature.

Precision of the invasive system was superior and acceptable in all conditions of stress throughout flexion (repeatability coefficient <2°). Precision of the non-invasive system was acceptable from extension until 60° flexion (repeatability coefficient <3°), beyond which precision was unacceptable. Agreement between invasive and non-invasive systems was within 1.7° from extension to 50° flexion when measuring MFTA with no varus / valgus applied. When applying varus / valgus stress agreement between the systems was acceptable from full extension to 20° & 30° knee flexion respectively (repeatability coefficient <3°). Beyond this the systems did not demonstrate sufficient agreement.

These results indicate that the non-invasive system can provide reliable quantitative data on MFTA and laxity in the range relevant to knee examination.

Conventional computer navigation systems using bone fixation have been validated in measuring anteroposterior (AP) translation of the tibia. Recent developments in non-invasive skin-mounted systems may allow quantification of AP laxity in the out-patient setting.

We tested cadaveric lower limbs (n=12) with a commercial image free navigation system using passive trackers secured by bone screws. We then tested a non-invasive fabric-strap system. The lower limb was secured at 10° intervals from 0° to 60° knee flexion and 100N of force applied perpendicular to the tibial tuberosity using a secured dynamometer. Repeatability coefficient was calculated both to reflect precision within each system, and demonstrate agreement between the two systems at each flexion interval. An acceptable repeatability coefficient of ≤3mm was set based on diagnostic criteria for ACL insufficiency when using other mechanical devices to measure AP tibial translation.

Precision within the individual invasive and non-invasive systems measuring AP translation of the tibia was acceptable throughout the range of flexion tested (repeatability coefficient ≤1.6mm). Agreement between the two systems was acceptable when measuring AP laxity between full extension and 40° knee flexion (repeatability coefficient ≤2.1mm). Beyond 40° of flexion, agreement between the systems was unacceptable (repeatability coefficient >3mm).

These results indicate that from full knee extension to 40° flexion, non-invasive navigation-based quantification of AP tibial translation is as accurate as the standard invasive system, particularly in the clinically and functionally important range of 20° to 30° knee flexion. This could be useful in diagnosis and post-operative follow-up of ACL pathology.

Although proximal tibia vara is physiologically and pathologically observed, it is difficult to measure the varus angle accurately and reproducibly due to inaccuracy of the radiograph because of rotational and/or torsional deformities. Since tibial coronal alignment in TKA gives influence on implant longevity, intra- or extra-medurally cutting guide should be set carefully especially in cases with severe tibia vara. In this context, we measured the proximal tibial varus angle by introducing 3D-coordinate system.

While double-bundle anterior cruciate ligament (ACL) reconstruction attempts to recreate the two-bundle anatomy of the native ACL, recent research also indicates that double-bundle reconstruction more closely reproduces the biomechanical properties of the ACL and restores the rotatory and sagittal stability to the level of the intact knee that was not attainable with anatomic single-bundle reconstruction. Though double-bundle reconstruction provides these potential biomechanical benefits, it poses a significant challenge to the surgeon who must attempt to accurately place twice as many tunnels while avoiding tunnel convergence compared to single-bundle reconstruction. In addition, previous work has shown that tunnel malpositioning may cause grafts that fail to reproduce the native biomechanics of the ACL, increase graft tension in deep knee flexion, increase anterior tibial translation, and produce lower IKDC (International Knee Documentation Committee) scores.

We hypothesise that experienced surgeons without the use of computer-assisted navigation will place tunnels on the tibial plateau and lateral femoral condyle that more closely emulate the locations of the native anteromedial (AM) and posterolateral (PL) ACL bundles than inexperienced surgeons with the use of computer-assisted navigation.

A novice surgeon group comprised of three medical students each performed double-bundle ACL reconstruction using passive computer-assisted navigation on a total of eleven cadaver knees. Their individual results were compared to three experienced orthopaedic surgeons each performing the identical procedure without the use of computer-assisted navigation on a total of nine cadaver knees.

There were no significant differences in placement of either the AM or PL tunnels on the tibial plateau between novice surgeons using computer-assisted navigation and experienced surgeons without the use of computer navigation. On the lateral femoral condyle, novice surgeons placed the AM and PL tunnels significantly more anterior along Blumensaat's line on average compared to experienced surgeons. Both groups placed femoral AM and PL tunnels anterior to previously described AM and PL bundle positions.

Novice surgeons utilizing computer-assisted navigation and experienced surgeons without computer assistance place the AM and PL tunnels on the tibial side with no significant difference. On the lateral femoral condyle, novice surgeons utilising computer-assisted navigation place tunnels significantly anterior along Blumensaat's line compared to experienced surgeons without the use of computer navigation.

Variations in the pivot shift test have been proposed by many authors, though, a test comprised of rotatory and valgus tibial forces with accompanied knee range of motion is frequently utilised. Differences in applied forces between practitioners and patient guarding have been observed as potentially decreasing the reproducibility and reliability of the pivot shift test.

We hypothesise that a low-profile pivot shift test (LPPST) consisting of practitioner induced internal rotatory and anterior directed tibial forces with accompanied knee range of motion can elicit significant differences in internal tibial rotation and anterior tibial translation between the anterior cruciate ligament (ACL) deficient and ACL sufficient knee.

Fresh, frozen cadaver knees were used for this study. Four practitioners performed the LPPST on each ACL sufficient knee. The ACL of each knee was subsequently resected and each practitioner performed the LPPST on each ACL deficient knee. Our quantitative assessment utilised computer assisted navigation to sample (10Hz) the anterior translation and internal rotation of the tibia as the LPPST force vectors were applied. We subsequently pooled and averaged data from all four practitioners and analysed the entrance pivot (tibial reduction with knee range of motion from extension into flexion) and the exit pivot (tibial subluxation with knee range of motion from flexion into extension).

We observed a significant difference in anterior tibial translation and internal tibial rotation in the ACL deficient vs. ACL sufficient knees during both the entrance and exit pivot phases of the LPPST. The entrance pivot (n=140) was found to have an average maximum anterior tibial translation of 7.83 mm in the ACL deficient knee specimens compared to 1.23 mm in the ACL sufficient knee specimens (p<0.01). We found the ACL deficient knees to exhibit an average maximum internal tibial rotation of 12.38 degrees compared to 11.24 degrees in the ACL sufficient specimens during the entrance pivot (p=0.04). The exit pivot (n=120) was found to have an average maximum anterior tibial translation of 7.82 mm in the ACL deficient knee specimens compared to 1.44 mm in the ACL sufficient knee specimens (p<0.01). The ACL deficient knees exhibited an average maximum internal tibial rotation of 12.44 degrees compared to 11.13 degrees in the ACL sufficient knee specimens during the exit pivot (p=0.02).

Our results introduce a physical exam maneuver (LPPST) consisting of practitioner induced internal rotatory and anterior directed forces, with notable absence of valgus force, on the tibia while applying knee range of motion. Our results demonstrate that the LPPST can elicit significant anterior translation and internal rotary differences in an effort to differentiate between the ACL deficient and ACL sufficient knee. Our work will next seek to explore the clinical reproducibility of this physical exam maneuver.

The occurrence of impingement can lead to instability, accelerated wear, and unexplained pain after THA. While implant and bony impingement were widely investigated, importance of soft tissue impingement was unclear. In the THA through posterior approach, it is known that posterior soft tissue repair can decrease the risk of dislocation. However, it is not known whether anterior soft tissue impingement by anterior hip capsule will influence hip ROM. The purpose of this study is to quantitatively measure the effect of anterior capsule resection on hip ROM in vivo during posterior approach THA using hip navigation system.

From June 2011, 26 hips (25 patients) that underwent primary THA using Stryker CT-based hip navigation system were the subjects. All were female osteoarthritis patients and the average age at the operation was 59 (47–76) years. Intraoperatively, acetabular cup and femoral stem placement were performed through posterior approach under the navigation system. After reduction of the joint, we measured hip ROM using the same navigation system. We measured them before and after the resection of anterior hip capsule and compared the difference.

After the resection of anterior hip capsule, the average increases of ROM were 0.7±3.5 degrees for flexion, 2.3±2.3 degrees for extension, 1.1±2.3 degrees for abduction and 2.1±2.9 degrees for external rotation at flexion 0 degree compared with ROM before the resection. However, it significantly increased 7.5±5.1 degrees for internal rotation at flexion 90 degree (range; −3–20, paired t-test p<0.001) and 6.1±5.5 degrees for internal rotation at flexion 45 degree (range; −4–18, p<0.001).

In this study, we used navigation system for assessment of soft tissue impingement. We found that during posterior approach THA, resection of anterior hip capsule brought about significant increase of ROM, especially in the direction of flexion with internal rotation. We also found that this procedure did not change ROM of flexion, extension, abduction and external rotation. These results indicated that, during THA through posterior approach, resection of anterior hip capsule could reduce the risk of posterior instability without increasing the risk of anterior instability.

Clinical outcomes for total knee arthroplasty (TKA) are especially sensitive to lower extremity alignment and implant positioning. The use of computer-assisted orthopedic surgery (CAOS) can improve overall TKA accuracy. This study assessed the accuracy of an image-free CAOS guidance system (Exactech GPS, Blue-Ortho, Grenoble, FR) used in TKA.

A high-precision 3D scanner (Comet L3D, Steinbichler, Plymouth, MI) was used to scan seven knee models (MITA, Medical Models, Bristol, UK) and collect pre-identified anatomical landmarks prior to using the models to simulate knee surgery. The Exactech GPS was then used to acquire the same landmarks. After adjusting the Exactech GPS cutting block to match the targets, bone resections were performed, and the knee models were re-scanned. The 3D scans made before and after the cuts were overlaid and the resection parameters calculated using the pre-identified anatomical landmark data and advanced software (XOV & XOR, RapidForm, Lakewood, CO and UG NX, Siemens PLM, Plano, TX). Data sets obtained from the 3D scanner were compared with data sets from the guidance system. Given the accuracy of the 3D scanner, its measurements were used as the baseline for assessing CAOS system error.

The CAOS system bone resection measurement errors had an overall mean of less than 0.35 mm. The mean errors for joint angle measurement was less than 0.6°. Even considering the ranges, errors were no more than 1 mm for all bone resection measurements and no more than 1° for all joint angle measurements. The low variability is also supported by small SD values.

To our knowledge, this is the first study to use a high-resolution 3D scanner to assess the accuracy of surgical cuts made with image-free CAOS system assistance. Determining precise landmarks using CAOS for TKA has been shown to be of critical importance. For this reason, the anatomical landmarks used by the scanner and guidance system were carefully identified and prepared to ensure consistency.

The study demonstrated that the evaluated image-free CAOS system was able to achieve a high level of in-vitro accuracy (small mean errors) as well as a high level of precision (small error variability) when making femoral and tibial bone resections during TKA.

Lower limb alignment after unicondylar knee arthroplasty (UKA) has a significant impact on surgical outcomes. The literature lacks studies that evaluate the limb alignment after lateral UKA or compare it to alignment outcomes after medial UKA, making our understanding of this issue based on medial UKA studies. Unfortunately, since the geometry, mechanics, and ligamentous physiology are different between these two compartments, drawing conclusions for lateral UKAs based on medial UKA results may be imprecise and misleading. The purpose of this study was to compare the risk for limb alignment overcorrection and the ability to predict postoperative limb alignment between medial and lateral UKA. We evaluated the results of mechanical limb alignment in 241 patients with unicompartmental knee osteoarthritis who underwent medial or lateral UKA; there were 229 medial UKAs and 37 lateral UKAs. Mechanical limb alignment was measured in standing long limb radiographs pre and post-operatively, intra-operatively it was measured using a computer assisted navigation system. Between the two cohorts, we compared the percentage of overcorrection and the difference between post-operative alignment and alignment measured by the navigation system. The percentage of overcorrection was significantly higher in the lateral UKA group (11%), when compared to the medial UKA group (4%), (p= 0.0001). In the medial UKA group, the mean difference between the intraoperative “virtual” alignment provided by the navigation system, and the post-operative, radiographically measured mechanical axis, was 1.33°(±1.2°). This was significantly lower than the mean 1.86° (±1.33°) difference in the lateral UKA group (p=0.019). Our data demonstrated an increased risk of mechanical limb alignment overcorrection and greater difficulty in predicting postoperative alignment using computer navigation, when performing lateral UKAs compared to medial UKAs.

A fracture of the distal radius may lead to malunion of bone segments, which gives discomfort to the patient and may lead to chronic pain, reduced range of motion, reduced grip strength and finally to early osteoarthritis. A treatment option to realign the bone segments is a corrective osteotomy. In this procedure the surgeon tries to improve alignment by cutting the bone at, or near, the fracture location and by fixating the bone segments in an improved position, using a plate and screws. Standard corrective osteotomy of the distal radius is most often planned using two orthogonal radiographs to find correction parameters for restoring the radial inclination, palmar tilt and ulnar variance, to normal. However, 2D imaging techniques hide rotations about the bone axis and may therefore cause a misinterpretation of the correction parameters.

We present a new technique that uses preoperative 3-D imaging techniques to plan positioning and to design a patient-tailored fixation plate that only fits in one way and realigns the bone segments as planned in six degrees of freedom. The procedure uses a surgical guide that snugly fits the bone geometry and allows predrilling the bone at specified positions, and cutting the bone through a slit at the preoperatively planned location. The patient-tailored plate fits the same bone geometry and uses the predrilled holes for screw fixation. The method is evaluated experimentally using artificial bones and renders realignment highly accurate and very reproducible (d_err < 1.2 ± 0.8 mm and ϕ_err < 1.8 ± 2.1°). In addition, the new method is evaluated clinically (n=1) and results in accurate positioning (d_err ≤ 1.0 mm and ϕ_err ≤ 2.6°).

Besides using a patient-tailored plate for corrective distal radius osteotomy, the method may be of interest for corrective osteotomy of other long bones, mandibular reconstruction and clavicular reconstruction as well. In all of these cases the contralateral side can equally be used as reference for reconstruction of the affected side.

The two-step method of predrilling and cutting using a surgical guide, followed by the utilisation of a patient-tailored plate for fixation and accurate 3D positioning at the same time, seems very easy to utilise during surgery, since it does not require complex navigation, robotic equipment or tracking tools. Custom treatment with a patient-tailored plate may reduce the reoperation rate, since repositioning is likely to be better than conventional malunion treatment using 2D imaging techniques and a standard anatomical plate. The patient-tailored plating technology is expected to have a great impact on future corrective osteotomy surgery.

An intelligent bone cutting tool as well as a navigation system is of high potential to provide great assistance for the surgeons in computer assisted orthopedic surgery. In this paper we designed a coordinated controller for the surgical robot to perform bone cutting more safely, easily and fast compared with being performed by manual bone saw. Coordinated control is in an outer control loop and determines suitable parameters of the inner control loop of the robot. The inner control loop is an admittance controller for the master site and a compliance controller for the slave site. Coordinated control consists of three modes, i.e. automated cutting, cautious cutting and automated prevention depending on bone cutting conditions and human intention. In automated cutting mode, the coordinated control will set larger admittance gain and smaller compliance gain to provide an assistant force to the human for completion of bone cutting. In cautious cutting mode, smaller admittance gain and larger compliance gain will be set and a resistant force will be provided to the operator for micro progress of bone cutting. In emergence mode, the robot will stop the cutter going forward.

Experimental result shows that in automated mode of the proposed coordinated control was able to assist bone cutting at the same time to avoid undesired large cutting force and cutter breakage. The moving speed of cutter slowed down as the cutting forces increased due to the cutter hitting harder bone, thus alleviated sawblade bouncing up and achieved less deviation from designed cutting plane. In cautious cutting mode the cutting forces were magnified to be felt by the operator. The operator was able to perform micro progress of bone cutting with intensive monitoring of the cutting forces. This functionality is especially useful as the cutter approaches the critical area where the surgeon regards as dangerous region. The emergent mode was also successfully triggered by calculating the defined apparent admittance. The apparent admittance is more reliable than using the cutting force only in detection of cutting boundary.

A hand's on robot under coordinated control is demonstrated in conjunction with surgical navigation system in computer assisted orthopedic surgery. This paper experimentally showed that the coordinated control can effective provide assistive and resistant forces to achieve safe and accurate bone cutting in total knee arthroplasty.

Acetabular component positioning is highly correlated with total hip arthroplasty (THA) outcomes. Multiple reports however indicate that less than 50% of acetabular cups are placed within surgeon-desired ranges for abduction and anteversion angles when using conventional cup positioning techniques. Issues with improper placement include instability-dislocation, impingement and impact on range of motion, polyethylene wear, leg length discrepancy, and gait mechanics. Accuracy in placement of the acetabular component is complicated by the need to estimate cup impactor angles to create desired cup position. A low cost approach to THA using Image-based Ultrasonic Guidance (IUG) (Orthosensor, Sunrise, FL) coupled to existing surgical tools is presented. IUG utilises acoustic measurement techniques for achieving optimal component positioning and leg length. A precisely machined Hip Test Fixture (HTF) has been built to simulate the anatomical pelvis, acetabular cup, and femur to validate system accuracy.

The IUG was affixed to the HTF to demonstrate placement of the cup during THA. The HTF was loaded onto a 27-inch Graphic User Interface (GUI) providing three-dimensional CAD data of the HTF. Registration points included the Iliac Crest and 10 points around the acetabular cup. These points were mapped to the CAD data by the GUI. The HTF was set to 45° of abduction and 0° of version to begin testing. Abduction and version were measured over a +15° range in 1-degree increments while leg length and offset were measured over a +5mm range in 2mm increments. A high-resolution coordinate measurement machine (FaroArm EDGE) verified the accuracy and margin of error for inclination, version, leg length and offset at each increment.

The HTF provided a precise means for evaluating IUG system accuracy of simulated THA in a controlled environment. Acceptable margins of error were reported on the HTF: mean error for version was 0.36° (SD 0.02°; 0.25° to 0.38°); mean error for inclination was 1.04° (SD 0.52°; 0.48° to 1.66°); mean error for leg length and offset were respectively 0.36mm (SD 0.86mm; −0.65 to 1.55mm) and 0.41mm (SD 0.28; 0.05 to 0.80mm).

IUG provides a means for achieving acceptable precision and accuracy in component placement during THA as evaluated with the HTF. Further study is however necessary to correlate accuracy of IUG with clinical utility and short-term clinical outcomes.

Rotational positioning of the femoral component during the realisation of a total knee arthroplasty is an important part of the surgical technique and remains a topic of discussion in the literature. The challenge of this positioning is important because it determines the anatomical result and its effect on the flexion gap and clinical outcome mainly through its impact on patellofemoral alignment. The intraoperative identification of the axis transepicondylar visually or by navigation is not reliable or reproducible. The empirical setting to 3 ° of external rotation, the procedure used to cut or dependent or independent is not adapted to the individual variability of knee surgery. Indeed, the angle formed by the posterior condylar axis and trans-epicondylar axis is subject to large individual variations.

The authors propose a novel technique, using the navigation of the trochlea to determine the rotation of the femoral component. The principle is to consider the rotation of the femoral implant as “ideal” when it makes a perfect superposition of the prosthetic trochlea with the native bony trochlea on patellofemoral view at 60 ° when planning the femur. The bottom of the prosthetic trochlea is well aligned with the trochlea groove, identified during the trochlear morphing, itself perpendicular to the trans-epicondylar axis. The authors hope to encourage centering patellofemoral joint prosthesis, thus favouring the original kinematics of the extensor apparatus.

The purpose of this study is to demonstrate firstly, that the navigation of the trochlea is a reliable and reproducible method to adjust the rotation of the femoral component relative to the trans-epicondylar axis taken as reference and the other, the rotation control by this method is not done at the expense of the balance gap in flexion.

It is a bi-centric study prospective, nonrandomised, including continuously recruited 145 patients in two French centres. All patients were included in the year 2010 and have all been revised three months and one year of surgery. The average age of patients was 71 years [53, 88]. It was made no selection of patients who have all been included consecutively in the study and in the two centres. In all cases, the rotation of the femoral component was determined by intraoperative navigation of the trochlea. The authors compared the alpha angle (angular divergence between the plane and the posterior bicondylar plane and trans-epicondylar axis) obtained by this method and that calculated on a pre-or postoperative scan. The authors also measured the space between femur and tibia internal and external side in flexion (90°) to assess the impact on the balance in flexion.

There is excellent agreement between the results obtained by the method of CT scan and the trochlear navigation technique. In addition, this technique allows to achieve a quadrilateral space gap in flexion. The authors found large individual variation in the distal femoral epiphyseal torsion (angle alpha). They demonstrate that the navigation of the trochlea is a reliable and reproducible method to adjust the rotation of the femoral component relative to the trans-epicondylar axis taken as reference and provides, concomitantly, a quadrilateral space gap in flexion.

After a fracture of the distal radius, the bone segments may heal in a suboptimal position. This condition may lead to a reduced hand function, pain and finally osteoarthritis, sometimes requiring corrective surgery.

The contralateral unaffected radius is often used as a reference in planning of a corrective osteotomy procedure of a malunited distal radius. In the conventional procedure, radiographs of both the affected radius and the contralateral radius have been used for planning. The 2D nature of radiographs renders them sub-optimal for planning due to overprojection of anatomical structures. Therefore, computer-assisted 3D planning techniques have been developed recently based on CT images of both forearms.

The accuracy of using the contralateral forearm for CT based 3D planning the surgery of the affected arm and the optimal strategy for planning have not been studied thoroughly.

To estimate the accuracy of the planned repositioning using the contralateral forearm we investigated bilateral symmetry of corresponding radii and ulnae using 3-dimensional imaging techniques. A total of 20 healthy volunteers without previous wrist injury underwent a volumetric computed tomography scan of both forearms. The left radius and ulna were segmented to create virtual 3 dimensional models of these bones. We selected a distal part and a larger proximal part from these bones and matched them with a mirrored CT-image of the contralateral side. This allowed estimation of the accuracy by calculation of relative displacements (Δx, Δy, Δz) and rotations (Δψx, Δψy, Δψz) required to align the left bone with the right bone segments as a reference. We also investigated the relationship between longitudinal length differences in radius and ulna and utilised this relationship to arrive at an optimal planning of the length of the affected radius after surgery.

Relative differences in displacement and orientation parameters after planning based on the contralateral radius were (Δx, Δy, Δz): −0.81±1.22 mm, −0.01±0.64 mm, and 2.63±2.03 mm; and (Δψx, Δψy, Δψz): 0.13°±1.00°, −0.60°±1.35°, and 0.53°±5.00°. The same parameters for the ulna were (Δx,Δy, Δz): −0.22±0.82 mm, 0.52±0.99 mm, 2.08±2.33 mm; and (Δψx, Δψy, Δψz): −0.56°±0.96°, −0.71°±1.51°, and −2.61°±5.58°. The results also point out that there is a strong linear relationship between absolute length differences (Δz) of the radius and ulna among the individuals.

Since we observed substantial length difference of the longitudinal bone axes of both forearms in healthy individuals, including the length difference of the adjacent forearm bones in the planning turned out to be useful in improving length correction in computer-assisted planning of radius or ulna osteotomies. The improved planning markedly reduces length positioning variability, (from 2.9± 2.1 mm to 1.5 ± 0.6 mm). We expect this approach to be valuable for 3-D planning of a corrective distal radius osteotomy. Awareness of the level of bilateral symmetry is important in reconstructive surgery procedures when the contralateral unaffected side is used as a reference for planning and evaluation. Bilateral asymmetry may introduce length errors into this type of preoperative planning that can be reduced by taking into account the concomitant ulnae asymmetry.

In orthopaedic surgery, as in many other surgical fields, there is a clear tendency towards the use of minimally invasive procedures. These techniques are increasingly being implemented almost routinely for procedures such as spine and pelvis surgery. However, for fracture treatment and for applications involving small bones, such as hand and foot surgery, these systems are hardly ever used. We introduce a new system for image based guidance in traumatology.

We included 20 patients with a fracture of the fifth metatarsal. They were randomised on admission into two groups. Ten patients in the metatarsal group were operated conventionally and ten were operated with the assistance of a new image guidance system. This system is based on 2D-fluoro images which are acquired with a conventional c-arm and are transferred to the system workstation. After detecting marked tools, it can be used to display trajectories for K-wire guidance in the c-arm shot.

The average duration of surgery (time from incision to suture) in the image-based group was 12.7 minutes ± 5.5 (min. 6, max. 23), in the conventional group it was 17 minutes ± 6.5 (min. 7, max. 28) (p=0.086). The average duration of radiation was 18 seconds ± 8.5 (min. 6, max 36) in the image-based group vs. 32.4 seconds ± 19.4 (min. 12, max. 66) in the conventional group (p=0.057). An average of 4.7 C-arm shots ± 2 (min 2, max 9) were necessary in the image-based group to position the K-wire. For the conventional group, 8.2 shots ± 2.3 (min 4, max 12) were used (p=0.0073). It took 1.6 trials ± 0.7 (min.1, max. 3) to position the K-wire for the image-based procedures, in the conventional group 2.7 trials ± 0.9 (min. 1, max 4) were necessary (p=0.0084). There were no malfunctions or adverse events in any of the image-based navigational cases. No screws needed to be replaced in the image-based group. In the conventional group, two screws were replaced intra-operatively because they were too short in the control c-arm shot, and the screw threads did not bridge the fracture gap completely, leading to insufficient compression.

In this pilot study with only a small sample size, the image-based guidance system could be integrated into the existing surgical workflow and was used for applications, where existing navigation systems are not commonly used. The technology gives the surgeon additional information and can reduce the number of trials for perfect implant positioning. This potentially increases the safety of the surgical procedure and spares intact bone substance which is essential for the footing of implants in small bones and fragment fixation. Whether these factors contribute to a reduction in complications or revision rate must be confirmed in larger prospective studies.

Medial unicompartmental knee arthroplasty (UKA) for isolated medial knee arthritis is a highly successful and efficacious procedure. However, UKA is technically more challenging than total knee arthroplasty (TKA). Research has shown that surgical technical errors may lead to high early failure rates. Haptic robotic systems have recently been developed with the goal of improving accuracy, reducing complications, and improving overall outcomes. There is little research comparing robotic-assisted UKA to standard UKA. The goal of this study was to compare clinical and radiographic data for matched cohorts who received robotic-arm assisted UKA or standard instrumentation UKA.

We performed a non-randomised, retrospective review of 30 robotic-arm assisted UKA and 32 manual UKA performed by single fellowship-trained joint arthroplasty surgeon (SKK) over 2.5 years. All procedures completed through a medial parapatellar approach. All components were cemented. All tibial components were a metal-backed onlay design. Average follow-up was 10.1 months (range 5–36). A full clinical/hospital chart review of demographic, intra- and post-operative measures was performed. Radiographic analysis of pre- and post-op images evaluating sagital and coronal alignment, and component positioning was performed by single observer (DCH), using OsiriX imaging system (Pixmeo; Geneva, Switzerland). Radiographs were available for analysis in 28 robotic-assisted and 30 manual patients. Statistical analysis was performed using SPSS v. 20. Comparison between group means was performed as well as calculation of variance in component placement within groups.

No demographic differences were seen between groups. Operative time was significantly longer in robotic-assisted UKA compared to the manual group. Minimal clinical post-op differences were seen between groups. The robotic group showed some early advantage in ambulation/ROM during inpatient stay. This ROM difference reversed at 2 weeks post-op. Continued medial-sided knee pain was reported more commonly in robotic group. Radiographic results showed no difference between groups in pre-op mechanical alignment. The robotic group was significantly more accurate at recreating femoral axis. Accuracy in recreation of tibial slope/ was similar between groups. Accuracy of the tibial component in the coronal plane was not significantly different between groups. The robotic group did have significantly larger variance in coronal alignment of the tibial component. Medial overhang of tibial component was significantly greater and more variable in the manual group. Non-significant decrease in resection depth found in robotic group.

There were minimal clinical and radiographic differences between techniques. Clinically, both cohorts did very well. Radiographically, both groups had quite accurate placement of components, with the most obvious difference being the increased tibial component overhang in the manual group. The increased variance in tibial component alignment in the robotic group is likely due to the ability to more specifically alter the resection to fit the patient's specific anatomy. Overall, our data suggests that the purported benefits of robotic UKA may be obviated in the hands of a surgeon with training and experience in manual UKA implantation.

This paper presents a methodology for measuring the femoro-pelvic joint angle based on in vivo magnetic resonance imaging (MRI) images taken under weight-bearing conditions. We assess the reproducibility of angle measurements acquired when the subject is asked to repeatedly assume a reference position and perform a voluntary movement.

We scanned a healthy subject in a lying position in a 3T MRI scanner to obtain high resolution (HR) images including two transverse T1-weighted TSE sequence scans at the pelvis and knee and a sagittal T1-weighted dual sense scan at the hip joint. We then scanned the same subject in a weight-bearing configuration in a 0.5T open MRI scanner to obtain related low resolution (LR) images of the femur and acetabulum. Four scan cycles were obtained with the subject being removed and reinserted between cycles in the Open MRI scanner. In each cycle, a block was inserted (up position) and removed (down position) under the subject's foot.

The femur and acetabulum bone models were manually segmented and the models from the LR (sitting) images were registered to the HR (supine) images. The femoroacetabular angles relative to the LR scanning plane for four cycles were calculated. The femoral angle relative to the scanner were quite repeatable (SD < 0.9°), the pelvic angles less so (SD ∼2.6–4.3°). The hip flexion angle ranged from 23°–34° in the down and up positions, respectively, so the block induced a mean angle change in the flexion direction of approximately 11° (SD = 1.7°).

We found that the femoral position could be accurately re-acquired upon repositioning, while the pelvic position was notably more variable. Limb position changes induced by inserting a block under the subject's foot were consistent (standard deviations in the relative attitude angles under 2°). Overall, our measurement method produces plausible measures of both the femoroacetabular angles and the changes induced by the block, and the reproducibility of relative joint changes is good.

ACKNOWLEDGMENTS: Dr. Kang was supported by the National Science and Engineering Research Council of Canada (NSERC) through a Postdoctoral Fellowship and conducted her research at the Centre for Hip Health and Mobility at Vancouver General Hospital, Canada.