Accurate reconstruction of the knee pose from two X-Ray images will allow the study pre-operative kinematics (for custom prosthesis design) and the post-operative evaluation of the intervention.

We used a SSM of the distal femur, based on 24 MRI datasets, from which the mean model and its modes of variation were defined. On the SSM, N landmarks in predefined positions were defined. The user identifies the same landmarks on two X-ray projections. Back-projecting the X-ray from the identified landmarks pixel to the corresponding source, each landmark position in the 3D space is reconstructed and the mean model pose initialised with a corresponding points registration. The silhouette of the SSM is projected on each X-ray image, which is automatically segmented in order to define the bone contours. With a Robust Point Matching algorithm based on Thin Plate Splines the projected silhouette points are deformed to better approximate the contour. For each contour point, the associated silhouette point is computed. We back-projected the ray from each contour point to the source and find on each ray the point with minimum distance to the silhouette. The cost function is the squared sum of the distances for both images. After a first optimisation of the pose, we perform a shape optimisation to find the correct weights for the SSM.

To evaluate our algorithm, we used two Digitally Reconstructed Radiographs (DRR) created as projections at 90° from a CT dataset. The CT based model was reconstructed and the landmarks were defined on it with a rigid registration of the SSM. In order to validate the robustness of our reconstruction method, a random uniform noise distribution (0–50 mm on each direction) was added on each landmark. The reconstruction accuracy was measured as the distance between each reconstructed landmark and the ground truth defined on the CT.

Results show that the population of the errors for the noise levels from 0 to 30 is similar: only the population with 50 mm noise is significantly different from the results obtained with other noise levels.

We can conclude that with a noise level below 50 mm the algorithm is able to return the correct pose of the femur, while with higher noise the initial distribution of the landmarks in the 3D space prevents the correct outcome of the algorithm. The user should select the landmarks within a range of 50 mm on the 3D representation, that is half the dimension of the bounding box containing the model. We can assume that in the real case it will be more difficult to select the proper position of the landmarks, but our method proved to be robust even with misplaced landmarks.

Quantification of the anterior and rotational laxity of the knee allows recognising an anterior cruciate ligament (ACL) insufficiency and assessing the severity of the lesion. The new GNRB system has demonstrated an improved accuracy and precision in the assessment of the anterior laxity. However, it is not known if this pre-operative measurement is a good predictor of the intra-operative measurement of the knee laxity, especially in the rotational plane. We tested the following hypotheses: 1) the pre-operative anterior knee laxity measured with the GNRB system is predictive for the intra-operative measurement of the anterior knee laxity by a navigation system, and 2) the pre-operative anterior knee laxity measured with the GNRB system is predictive for the intra-operative measurement of the rotational knee laxity by a navigation system,

40 patients operated on for ACL reconstruction were included. The anterior knee translation was assessed before the operation with the GNRB system with a force of 250 N at 25° of knee flexion. The anterior knee translation and the internal-external range of rotation was measured intra-operatively before and after ACL reconstruction with the navigation system. The correlation between 1) the measurements of the anterior laxity by the GNRB system and the navigation system, and 2) the measurements of the anterior translation by the GNRB system and the rotational knee motion measured by the navigation system, were assessed.

There was a significant difference between the measurements of the mean knee anterior laxity by the GNRB system (9.1 ± 2.9 mm) and by the navigation system (11.3 ± 4.0 mm) (p<0.001). There was no significant correlation between the two techniques (R² = 0.01). However, a satisfactory agreement between the two techniques was observed (R² = 0.03), with a systematic bias of −3.3 mm for GNRB measurements in comparison to navigated measurements. There was neither significant correlation nor satisfactory agreement between the two techniques when predicting the rotational motion of the knee.

When used prior to ACL reconstruction, the GNRB system underestimates the anterior laxity of the knee that will be measured during the reconstruction by a navigation system, and does not predict the amount of rotational laxity. It is difficult to predict accurately the anterior and rotational knee laxity by pre-operative measurements.

To restore a physiologic kinematic is one of the goals of total knee replacement (TKR). This study compared the intra-operative registration of the knee kinematics during standard, navigated TKR performed either with a well validated floating platform design with posterior cruciate (PCL) preservation, or with a newly designed TKR with a rotating platform and PCL substitution. It was hypothesised that this new design will significantly alter the kinematic recorded after TKR implantation in comparison to the conventional design.

A standard navigation software has been modified to allow the intra-operative registration of the knee kinematic during a flexion-extension movement before and after implantation. Kinematic registration was performed twice: 1) before any bone resection or ligamentous balancing; 2) after fixation of the final implants. Post-operative kinematic was classified as following: 1) Occurrence of a normal femoral roll-back during knee flexion, no roll-back or paradoxical femoral roll-forward. 2) Occurrence of a normal tibial internal rotation during knee flexion, no tibial rotation or paradoxical tibial external rotation. 20 patients were operated on with either the PCL preserving or sacrificing designs. The kinematic behaviour was compared on a patient specific basis before and after the TKR.

About femoral roll-back, 54% had a normal femoral roll-back during knee flexion after total knee replacement, 13% had no significant roll-back and 33% had a paradoxical femoral roll-forward. About tibia rotation, 65% had a normal tibia internal rotation during knee flexion, 16% had no significant tibia rotation and 19 had a paradoxical tibia external rotation. There was no difference of repartition between the two designs.

The new software allows actually validating new designs of a TKR in terms of intra-operative kinematic behaviour.

Modern total knee replacements aim to reconstruct a physiological kinematic behaviour, and specifically femoral roll-back and automatic tibial rotation. A specific software derived from a clinically used navigation system was developed to allow in vivo registration of the knee kinematics before and after total knee replacement. The study was designed to test for the feasibility of the intra-operative registration of the knee kinematics during standard, navigated total knee replacement.

The software measures the respective movement of the femur and the tibia, and specially antero-posterior translation and tibial rotation during passive knee flexion. Kinematic registration was performed twice during an usual procedure of navigated total knee replacement: 1) Before any bone resection or ligamentous balancing; 2) After fixation of the final implants. 200 cases of total knee replacement have been analysed. Post-operative kinematic was classified as following: 1) Occurrence of a normal femoral roll-back during knee flexion, no roll-back or paradoxical femoral roll-forward. 2) Occurrence of a normal tibial internal rotation during knee flexion, no tibial rotation or paradoxical tibial external rotation. All patients were followed up for a minimal period of 12 months, and reevaluated at the latest follow-up visit for clinical and functional results with completion of the Knee Society Scores.

Recording the kinematic was possible in all cases. The results of both pre-operative and post-operative registrations were analysed on a qualitative manner. The results were close to those already published in both experimental and clinical studies. About femoral roll-back, 54% had a normal femoral roll-back during knee flexion after total knee replacement, 13% had no significant roll-back and 33% had a paradoxical femoral roll-forward. About tibia rotation, 65% had a normal tibia internal rotation during knee flexion, 16% had no significant tibia rotation and 19 had a paradoxical tibia external rotation. The mean Knee Score was 92/100 ± 10 points. There was a significant correlation between the post-operative kinematic behaviour and the Function Score, with better score for the patients having a physiological femoral roll-back and a physiological tibial internal rotation during knee flexion (p<0.01).

Intra-operative analysis of the kinematic of the knee during total knee replacement may offer the chance to modify the kinematic behaviour of the implant and to choose the best fitted constraint to the patient's native knee in order to impact positively the functional result.

Clinical outcomes for total knee arthroplasty (TKA) are sensitive to lower extremity alignment, implant positioning, and implant size. Accurate determination of femoral implant size is the focus of this paper. As existing methods (conventional instrumentation, preoperative images, navigation) can be limited by issues including inaccuracy, time required, exposure, and cost, this study assesses a novel method for determining femoral component size using navigation.

We used a commercially available navigation system (Exactech GPS, Blue Ortho, Grenoble, FR, with Total Knee V1.13 software). The system uses surface patches to collect small point clouds, and then computes points that match a given criteria (e.g. the most distal point). For femoral component sizing, the proposed method automatically defines a target area to be digitised on the anterior cortex.

To do this, the surgeon acquires anatomical landmarks (i.e., knee centre, distal condyles, etc.) for all femoral implant parameters but the size. The surgeon then moves the tip of the acquisition instrument near the anterior cortex, and the system computes the distance between the virtual posterior cut and the tip in real time. The theoretical implant size increases in real time as the instrument tip moves anteriorly and decreases as it moves posteriorly. The target area is displayed on the anterior cortex such that it covers all the bone in the medio-lateral direction, is centred on the most proximal part of the theoretical implant in the proximal-distal direction, and covers the current size plus or minus one size. As a result, the target area virtually moves in the proximal-distal direction as the surgeon moves the instrument tip closer to the anterior cortex surface. When the tip is in contact with the anterior surface, acquisition of the point cloud is performed. From a user point of view, the system does not move the target area relative to the bone on the display, but instead adjusts the relative position of the instrument tip, creating the impression that no matter the bone size, the target area does not move and the instrument tip is always guided to the right spot.

The method has been successfully implemented and used on more than 1,400 patients. A preliminary analysis on 189 surgical reports shows in 188 cases (99,5%) the proximal point of the selected implant is inside the target area (which means that the selected size is the one by default, plus or minus one).

We conclude the proposed method as implemented in the Exactech GPS has proven to be clinically effective. It can easily be extended to determination of other points when global criteria can be used to define an optimal area of digitisation determined from previously acquired data.

Shoulder instability and impingement are common in tennis players. During tennis, several impingements could occur: subcoracoid and anterosuperior impingements at the follow-through phase of forehand and the backhand preparation phase; subacromial and postero-superior impingements at the cocking phase of serve. The precise causes for these impingements remain unclear, but it is believed that repetitive contact, glenohumeral instability may play a role.

Impingement and glenohumeral instability at critical tennis positions have never been dynamically evaluated in-vivo. The purpose of this study was to develop a patient-specific measurement technique based on motion capture and MRI to accurately determine glenohumeral kinematics (rotations and translations). The second objective was to evaluate impingements and stability in tennis.

Shoulder MR arthrography and motion capture were performed in 10 tennis players. Motion data were recorded during tennis movements. Glenohumeral kinematics was computed from the markers trajectories using a global optimisation algorithm with loose constraints on joint translations (accuracy: translational error ≈3mm, rotational error <4°). The translations patterns computed with the model were in good agreement with previous works. The resulting computed motions were applied to the subject's shoulder 3D bony models reconstructed from MRI data.

While simulating the shoulder joint, minimum humero-acromial, humero-coracoid and humero-glenoid distances were measured at critical tennis positions. Given the thickness of the potential impinged tissues, impingement was considered when the computed distance was <5 mm (<6 mm for the humero-acromial distance). During serve, glenohumeral stability was assessed at the cocking, deceleration and finish phases. Glenohumeral translation was defined as the anterior-posterior and superior-inferior motion of the humeral head centre relative to a glenoid coordinate system. Subluxation was defined as the ratio (in %) between the humeral head centre translation and the radius of the width (antero-posterior subluxation) or height (supero-inferior subluxation) of the glenoid surface. Instability was thus considered when the subluxation was >50%, corresponding to a loss of congruence superior to half the radius of the width (or height) of the glenoid.

No subcoracoid impingement was detected. Antero-superior impingements were observed in two subjects (29%) during forehand. Anterior and lateral subacromial impingements occurred during the cocking phase of serve in three (29%) and four subjects (42%), respectively. Postero-superior impingements during the cocking phase of serve were the most frequent (7 subjects, 75%). In this position, glenohumeral translation was anterior (mean: 34%) and superior (mean: 13%). During the deceleration phase, anterior and superior translation varied between 8–57% and between 5–34%, respectively. During the finish phase, anterior translation was slightly more intense (mean: 44%), while superior translation remained low (mean: 1%). MRI revealed eleven rotator cuff lesions in five subjects, and six labral lesions in five subjects.

Postero-superior impingement was frequent when serving. No instability could be noted. Tennis players presented frequent radiographic signs of structural lesions which seem to be mainly related to postero-superior impingement due to repetitive abnormal motion contacts. Our findings are consistent with this hypothesis. To our knowledge, this is the first study demonstrating that a dynamic and precise motion analysis of the shoulder is feasible using an external measurement system, such as motion capture.

Accurate and reproducible measurement of three-dimensional shoulder kinematics would contribute to better understanding shoulder mechanics, and therefore to better diagnosing and treating shoulder pathologies. Current techniques of 3D kinematics analysis use external markers (acromial cluster or scapula locator) or medical imaging (MRI or CT-Scan). However those methods present some drawbacks such as skin movements for external markers or cost and irradiation for imaging techniques. The EOS low dose biplanar X-Rays system can be used to track the scapula, humerus and thorax for different arm elevation positions. The aim of this study is to propose a novel method to study scapulo-thoracic kinematics from biplanar X-rays and to assess its reliability during abduction in the scapular plane.

This study is based on the EOS™ system (EOS Imaging, Paris, France), which allows acquisition of 2 calibrated, low dose, orthogonal radiographs with the subject standing at 30 to 40° angle of coronal rotation to the plane of one of the X-ray beams, in order to limit superimposition with the ribcage and spine. Seven abduction positions in the scapular plane were maintained by the subjects for 10 seconds, during X-ray acquisition. Between two positions, the subjects returned at rest position. Arm elevations were approximately 0, 10, 20, 30, 60, 90 and 150° (position 1 to 7). Six subjects were enrolled to perform a reproducibility study based on the 3D reconstructions of 2 experienced observers three times each. For each subject, a personalised 3D reconstruction of the scapula was created. The observer digitises clearly visible anatomical landmarks on both stereoradiographs for each arm position. These landmarks are used to make a first adjustment of a parameterised 3D model of the scapula. This provides a pre-personalised model of the subject's scapula which is then rigidly registered on each pair of X-rays until its retroprojection fits best on the contours that are visible on the X-rays. The thorax coordinate system (CS) was built following the ISB (International Society of Biomechanics) recommendations. The CS associated to the scapula was a glenoid centred CS based on the ellipse which fit on the glenoid rim on the 3D model of scapula. Scapular CS orientation and translation in the thorax CS was calculated following a Y,X,Z angle sequence for each position.

Each 3D reconstruction of the scapula was performed in approximately 30 minutes. The most reproducible rotation was upward/downward rotation (along X axis) with a 95% confidence interval (95% CI) from 2.71° to 3.61°. Internal/external rotation and anterior/posterior tilting were comprised respectively between 5.18° to 8.01° and 5.50° to 7.23° (CI 95%). The most reproducible translation was superior-inferior translation (along Y axis) with a 95% CI from 1.22mm to 2.46mm. Translation along X axis (antero-posterior) and Z axis (medio-lateral) were comprised respectively between 2.49mm to 4.26mm and 2.47mm to 3.30mm (CI 95%).

We presented a new technique for 3D functional quantitative analysis of the scapulo-thoracic joint. This technique can be used with confidence; uncertainty of the measures seems acceptable compared to the literature. Main advantages of this technique are the very low dose irradiation compared to the CT-Scan and the possibility to study arm elevation above 120°.

Infrared marker tracking cameras occupy a significant amount of space in the operating theatre, and require a constant line-of-sight between camera and markers which reduces patient access. We therefore investigate the accuracy of a novel, single, drill-mounted, commercial web camera using augmented reality. The system is built upon the ARToolKit library and provides full six degrees of freedom tracking of the tool relative to fiducial markers.

Tool positioning accuracy was assessed using three methods. Firstly, the camera was displaced linearly along each orthogonal axis, relative to a marker, in 1 mm intervals over a range of 150 mm. Secondly, a 100×100×50 mm pyramidal target with regular measurement points was machined to an accuracy of 10 μm. 108 points were probed with the system producing 100 measurements for each. These were performed with the camera both static and randomly rotated during measurement. Finally, the probe was systematically traced across the surface of the pyramidal target for a period of 5 minutes, resulting in approximately 10,000 positional measurements.

Linear displacements produced RMS precision errors of 1.4 mm along the optical axis at separations above 250 mm, however, these errors reduced to 0.4 mm for separations below 180 mm. Axes orthogonal to the optical axis produced RMS errors of 0.3 mm at approximately 200 mm separation. The point experiment produced a total RMS accuracy error of 1.5 mm while the surface trace experiment produced a total RMS error of 1.7 mm.

The results demonstrate two commonly reported features of existing optical tracking systems. Namely, system accuracy is inversely proportional to camera-marker separation and the optical axis typically presents the lowest accuracy. The drill mounted camera approach capitalises upon this first effect by allowing substantially reduced camera-marker separation, compared to existing systems, particularly during resection.

Without published tool accuracies for existing systems it is difficult to confidently define a success threshold, and with features such as overcutting to facilitate implant cementation the situation is further complicated. However, it is reasonable to suggest that submillimetre accuracies are required for consistently successful arthroplasty. The results currently indicate that the system falls short of this threshold. However, several optimisation techniques have yet to be implemented, including improved camera calibration and increased image resolution.

In conclusion, one-camera augmented reality systems may have the potential to replace the current optical pathway. As such, future work will focus on optimising the system to reach the desired level of accuracy.

Patella resection has been the least controlled element of total knee arthroplasty (TKA). We have developed an intraoperative guide system involving a custom-made surgical template designed on the basis of a three-dimensional computer simulation incorporating computed tomography (CT) data for several years. This time we have applied this intraoperative guide system for the patella resection in TKA. We investigated the accuracy of CT-based patient-specific templating (PST) for patella resection using cadaveric knee joints in vitro.

To plan the corrective patella resection, we attempted to simulate a three-dimensional patella resection with the use of computer models of the patella. From CT images of the patella we obtained three-dimensional surface models of the patella by performing a three-dimensional surface generation of the bone cortex. After the patella resection using CT-based custom-made surgical templating instrumentation, CT scan was performed again and we compared the patella shape in three-dimensional patella bone model reconstructed from pre and after cut from CT data. We compared the accuracy of patella cut using three-dimensional patella bone model reconstructed from pre and after cut from CT data. Statistical analysis was performed using paired t test.

The difference between patella cut with CT-based custom-made surgical templating instrumentation and pre-operative planning were 0.8±1.2mm (medial side) and 0.1±1.4mm (lateral side). More than 60% resulted within 2mm from the pre-operative planning. There were significant differences both in flexion/extension, external/internal rotation and bone cut depth between CT-based custom-made surgical templating instrumentation and conventional instrument.

The results in this study demonstrated the usefulness of CT-based custom-made surgical templating instrumentation for patella resection in TKA.

Minimally invasive placement of iliosacral screws (SI-screw) is becoming the standard surgical procedure for sacrum fractures. Computer navigation seems to increase screw accuracy and reduce intraoperative radiation compared to conventional radiographic placement. In 2012 an interdisciplinary hybrid operating theatre was installed at the University of Ulm. A floor-based robotic flat panel 3D c-arm (Artis zeego, Siemens, Germany) is linked to a navigation system (BrainLab Curve, BrainLab, Germany). With a single intraoperative 3D scan the whole pelvis can be visualised in CT-like quality. The aim of this study was to analyse the accuracy of SI-screws using this hybrid operating theater.

32 SI-screws (30 patients) were included in this study. Indications ranged from bone tumour resection with consecutive stabilisation to pelvic ring fractures. All screws were implanted using the hybrid operating theatre at the University of Ulm. We analysed the intraoperative 3D scan or postoperative computed tomography and classified the grade of perforation of the screws in the neural foramina and the grade of deviation of the screws to the cranial S1 endplate according to Smith et al. Grade 0 stands for no perforation and a deviation of less than 5 °. Grade 1 implies a perforation of less than 2 mm and a deviation of 5–10°, grade 2 a perforation of 2–4 mm and a deviation of 10–15° and grade 3 a perforation of more than 4 mm and a deviation of more than 15°. All patients were tested for intra- and postoperative neurologic complications and infections. The statistical analysis was executed using Microsoft Excel 2010.

32 SI-screws were implanted in the first 20 months after the hybrid operating theatre had been established in 2012. All 30 patients were included in this study (15 men, 15 women). The mean age was 59 years ±23 (13–95 years). 20 patients received a single screw in S1 (66.7%), 1 patient 2 unilateral screws in S1 and S2 (3.3%), one patient 2 bilateral screws in S1 (3.3%) and 8 patients a single screw stabilising both SI-joints (26.7%). 27 screws showed no perforation (84.4%), 1 screw a grade 1 perforation (3.1%) and 4 screws a grade 2 perforation (12.5%). There was no grade 3 perforation. Furthermore there was no perforation of the neural foramina or the ventral cortex in the axial plane of the SI-screws stabilising one SI-joint (24 screws). Only single SI-screws bridging both SI joints showed a perforation of the neural foramina (37% grade 0, 12.5% grade 1, 50% grade 2, 0% grade 3).

In the frontal plane 23 screws (71.9%) showed a deviation of less than 5°. In 5 screws a grade 1 deviation (15.6%) and in 4 screws a grade 2 deviation (12.5%) could be found. There was no grade 3 deviation. There were no infections or neurological complications.

The high image quality and large field of view in combination with an advanced navigation system is a great benefit for the surgeon. All SI-screws stabilising only one joint showed completely intraosseous placement. Single SI-screws bridging 2 SI-joints intentionally perforated the neural foramina ventrally in 5 cases because of dysmorphic sacral anatomy. This makes image-guided implantation of SI-screws in a hybrid operating theatre a very safe procedure.

Resecting bone tumours within the pelvis is highly challenging and requires good cutting accuracy to achieve sufficient margins. Computer-assisted technologies such as intraoperative navigation have been developed for pelvic bone tumour resection. Patient-specific instruments have been transposed to tumour surgery. The present study reports a series of 11 clinical cases of PSI-assisted bone tumour surgery within the pelvis, and assesses how accurately a preoperative resection strategy can be replicated intraoperatively with the PSI.

The patient series consisted in 11 patients eligible for curative surgical resection of primary bone tumor of the pelvis. Eight patients had a bone sarcoma of iliac bone involving the acetabulum, two patients had a sacral tumor, and one patient had a chondrosarcoma of proximal femur with intra-articular hip extension. Resection planning was preoperatively defined including a safe margin defined by the surgeon from 3 up to 15 mm. PSI were designed using a computer-aided design software according to the desired resection strategy and produced by additive manufacturing technology. Intraoperatively, PSI were positioned freehand by the surgeon and fixed on the bone surface using K-wires. The standard surgical approach has been used for each patient. Dissection was in accordance with the routine technique. There was no additional bone exposure to position the PSI. Histopathological analysis of the resected tumor specimens was performed to evaluate the achieved resection margins. Postoperative CT were acquired and matched to the preoperative CT to assess the local control of the tumor. Two parameters were measured: achieved resection margin (minimum distance to the tumor) and location accuracy (maximum distance between achieved and planned cuttings; ISO1101 standard).

PSI were quick and easy to use with a positioning onto the bone surface in less than 5 minutes for all cases. The positioning of the PSI was considered unambiguous for all patients. Histopathological analysis classified all achieved resection margins as R0 (tumor-free), except for two patients : R2 because of a morcelised tumour and R1 in soft tissues. The errors in safe margin averaged −0.8 mm (95% CI: −1.8 mm to 0.1 mm). The location accuracy of the achieved cut planes with respect to the desired cut planes averaged 2.5 mm (95% CI: 1.8 to 3.2 mm).

Results in terms of safe margin or the location accuracy demonstrated how PSI enabled the surgeon to intraoperatively replicate the resection strategies with a very good cutting accuracy. These findings are consistent with the levels of bone-cutting accuracy published in the literature. PSI technology described in this study achieved clear bone margins for all patients. Longer follow-up period is required but it appears that PSI has the potential to provide clinically acceptable margins.

Knee osteoarthritis results in pain and functional limitations. In cases where the arthritis is limited to one compartment of the knee joint then a unicondylar knee arthroplasty (UKA) is successful, bone preserving option. UKA have been shown to result in superior clinical and functional outcomes compared to TKA patients. However, utilisation of this procedure has been limited due primarily to the high revision rates reported in joint registers. Robotic assisted devices have recently been introduced to the market for use in UKA. They have limited follow up periods but have reported good implant accuracy when compared to the pre-operative planned implant placement.

UKA was completed on 25 cadaver specimens (hip to toe) using an image-free approach with infrared optical navigation system with a hand held robotically assisted cutting tool. Therefore, no CT scan or MRI was required. The surface of the condylar was mapped intra operatively using a probe to record the 3 dimensional surface of the area of the knee joint to be resurfaced. Based on this data the size and orientation of the implant was planned. The user was able to rotate and translate the implant in all three planes. The system also displays the predicted gap balance graph through flexion as well as the predicted contact points on the femoral and tibial component through flexion. The required bone was removed using a bur. The depth of the cut was controlled by the robotically controlled freehand sculpting tool.

Four users (3 consultant orthopaedic surgeon and a post-doctoral research associate) who had been trained on the system prior to the cadaveric study carried out the procedures. 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 RMS angular error was 2.34°. The maximum femoral RMS translational error across all directions was up to 1.61mm. The maximum tibial RMS angular error was 2.60°. The maximum tibial RMS translational error across all directions was up to 1.67mm.

In conclusion, the results of this cadaver study reported low RMS errors in implant position placement compared to the plan. The results were comparable with those published from clinical studies investigating other robotic orthopaedic devices. Therefore, the freehand sculpting tool was shown to be a reliable tool for cutting bone in UKA and the system allows the surgeon to plan the placement of the implant intra operatively and then execute the plan successfully.

Unicondylar knee arthroplasty (UKA) is growing in popularity with an increase in utilisation. As a less invasive, bone preserving procedure suitable for knee osteoarthritic patients with intact cruciate ligaments and disease confined to one compartment of the knee joint. The long term survival of a UKA is dependent on many factors, including the accuracy of prosthesis implantation and soft tissue balance. Robotic assisted procedures are generally technically demanding, can increase the operation time and are associated with a learning curve. The learning curve for new technology is likely to be influenced by previous experience with similar technologies, the frequency of use and general experience performing the particular procedure. The purpose of this study was to determine the time to achievement of a steady state with regards to surgical time amongst surgeons using a novel hand held robotic device.

This study examined consecutive UKA cases which used a robotic assistive device from five surgeons. The surgeons had each performed at least 15 surgeries each. Two of the surgeons had previous experience with another robotic assistive device for UKA. All of the surgeons had experience with conventional UKA. All of the surgeons have used navigation for other knee procedures within their hospital. The system uses image free navigation with infrared optical tracking with real time feedback. The handheld robotic assistive system for UKA is designed to enable precision of robotics in the hands of the surgeon. The number of surgeries required to reach ‘steady state’ surgical time was calculated as the point in which two consecutive cases were completed within the 95% confidence interval of the surgeon's ‘steady state’ time.

The average surgical time (tracker placement to implant trial acceptance phase) from all surgeons across their first 15 cases was 56.8 minutes (surgical time range: 27–102 minutes). The average improvement was 46 minutes from slowest to quickest surgical times. The ‘cutting’ phase was reported as decreasing on average by 31 minutes. This clearly indicates the presence of a learning curve. The surgeons recorded a significant decrease in their surgical time where the most improvement was in the process of bone cutting (as opposed to landmark registration, condyle mapping and other preliminary or planning steps). There was a trend towards decreasing surgical time as case numbers increase for the group of five surgeons. On average it took 8 procedures (range 5–11) to reach a steady state surgical time. The average steady state surgical time was 50 minutes (range 37–55 minutes).

In conclusion, the average operative time was comparable with clinical cases reported using other robotic assistive devices for UKA. All five surgeons using the novel handheld robotic-assisted orthopaedic system for UKA reported significant improvement in bone preparation and overall operative times within the first 15 cases performed, reaching a steady state in surgical times after a mean of 8 cases. Therefore, this novel handheld device has a similar learning curve to other devices on the market.

The robotic-assisted system (ROBODOC) is the first active robot that was designed to reduce potential human errors in performing cementless total hip arthroplasty (THA). We have reported minimum five years follow-up clinical results. However, to our knowledge, there have been no longer follow-up reports. The purpose of this study was to prospectively compare the minimum ten years follow-up results of robotic-assisted and hand-rasping stem implantation techniques.

Between 2000 and 2002, we performed 146 THA on 130 patients who were undergoing primary THA. Robot assisted primary THA was performed on 75 hips and a hand-rasping technique was used on 71 hips. Among them, 112 hips (53 hips in the robotic milling group and 59 hips in the hand-rasping group) were followed more than 10 years. Follow-up periods ranged from 120–152 months (average 135). Preoperatively, we plan the position and the size of the stem three-dimensionally for both groups. At the operation, posterolateral approach was used. We evaluated survivorship and compared clinical results.

At the final follow-up, no stem was revised in either group. Plain radiographs showed bone ingrowth fixation for all the stems of both groups. There were no signs of mechanical loosening in any implant. Preoperatively, there were no significant differences in the Japanese Orthopedic Association (JOA) hip scores between the two groups. Ten years postoperatively, it was significantly better in the robotic milling group (98 points and 96 points, respectively) (Mann-Whitney U-test; p<0.05). The main difference was observed in the category of range of motion (19 points and 18 points, respectively) (p=0.01).

In the previous study, we have reported that the JOA hip score was significantly better in the robotic milling group up to three years postoperatively. In the present study, we found that it was still significantly better at ten years postoperatively. In conclusion, robotic milling THA was associated with better clinical scores until ten years postoperatively.

Computer-assisted navigation during total knee replacement has been advocated to improve component alignment and hence reduce failure rates and improve quality of life. The technique involves the placement of trackers via pins placed in both the femur and tibia throughout the surgery. It has been proposed that complication rates are higher in knee arthroplasty when computer navigation is used, compared to when it is not, due to increased risks from the pin tracker sites. Potential risks from pin sites include infection, fractures of the tibia or femur and pin site pain. In this study we present the post-operative complication rates related to pin tracker sites of computer navigated knee arthroplasty from a single surgeon at one centre.

A database was compiled including all patients undergoing knee arthroplasty with computer navigation between January 2009 and December 2013 performed by a single surgeon at one centre. A retrospective study was undertaken having identified a total of 321 patients (642 pin sites) with 287 having undergone total knee replacement, 29 Uni-condylar knee replacement and five having undergone patellofemoral knee replacement. There 131 males and 190 females with a mean age of 69.4 [range 48–89]. There were no exclusions. The patient's notes were reviewed for any complications that occurred as a result of pin sites including infection, pin site pain and fracture.

Only one patient (0.03%) was identified with a superficial pin site infection that was successfully managed with oral antibiotics only. There were no fractures or other complications identified in any of the other patients.

In this series, the complication rates resulting from pin tracker sites was very low suggesting computer navigation does not increase the risks of knee arthroplasty. There were no cases of femoral or tibial fractures in this series, as have previously been reported. It is therefore likely that the technique of pin site placement is important in limiting the risk of complications. In this series a standard technique was used in all cases. Stab incisions are always used rather than a percutaneous technique and the wounds closed with clips and protected with dressings at the end of the surgery. Uni-cortical drilling is sufficient to provide stability of the trackers intra-operatively and minimises the risk of thermal necrosis therefore bi-cortical placement is avoided. Self-drilling pins are used on power and inserted perpendicular to the bone on high torque and low speed. The tourniquet is not inflated until after the pins have been inserted. It is thought that using this technique offers a safe method of pin tracker placement ensuring low complication rates.

The clinical success and long-term outcomes of total knee arthroplasty (TKA) depend not only on the accuracy of femoral and tibial components positioning, but also on the restoration of a proper mechanical axis (MA). Coronal and rotational mal-alignment may affect significantly the final result of a knee replacement. Patient specific cutting guides and intra-operative Computer-Assisted Surgery (CAS) have recently been introduced as options to improve implant alignment during TKA. The purpose of this study was to compare the alignment accuracy and implant positioning of Patient Matched technique to CAS system in patients with primary TKA.

A cohort of 68 consecutive patients who underwent TKA was enrolled for this study: 34 patients received a TKA using CAS system while 34 patients received a TKA using a MRI-based Patient Matched system. Mechanical axis and kinematics were digitally measured pre- and post-operatively in all knees using the intra-operative navigation system but data were blinded for the operating surgeon in the Patient Matched group. A post-operative CT-scan evaluation was performed in all patients to analyse the prosthetic components alignment (coronal, sagittal and axial alignment according to Perth Protocol from CT-scan). CT-scan measurements were used as landmarks as this tool is considered the gold standard. MA, posterior tibial slope (PTS) and femoral component rotation (FCR) in CAS group were compared to data of Patient Matched group. All patients also underwent a clinical evaluation with Knee Society Score (KSS) and Knee injury and Osteoarthritis Outcome Score (KOOS) at 6 and 12 months of follow up.

KSS, KOOS and range of motion were comparable in the two groups after surgery. Operative time was significantly shorter in the Patient Matched group. No differences were found regarding complications rate.

Mean angles, respectively for CAS and Patient Matched groups, were the following: MA was 1,7° (SD 0,9°) vs 0.8° (SD 2.1°); PTS was 3.1° (SD 0.9°) vs 3.4° (SD 2.1°); FCR was 1.5° (SD 2.2°) vs 1.36° (DS 1.2°). The outcomes of the CT scan evaluation were the following: MA was 1.5° (SD 0.8°) vs 1.0° (DS 1.5°); PTS was 2.3° (SD 0.8°) vs 3.0° (SD 2.6°); FCR was 0.4° (SD 0.8°) vs 0.2° (SD 0.3°). MA was within 3° of neutral alignment in 94% of patients for CAS group and in 97% of knees for Patient Matched group.

After a short follow up, there weren't statistically significant differences between CAS and Patient Matched techniques as regards clinical and functional scores. Both the systems achieved the goal of neutral alignment within 3° of varus and valgus. We only observed greater precision for Patient Matched technique in optimizing femoral component rotation. Actually it is unpredictable if this difference may determine long term effects.

Patient Matched technique and CAS for TKA surgery will certainly continue to have an impact in the future. Studies are needed to define which technique is better, in terms of long term results, failure rate and cost-effectiveness.

Soft tissue gaps created in total knee replacement rely on the creation of symmetrical spaces that accommodate prosthetic implants. We studied a new custom surface registration protocol in a computer navigation system to accurately and precisely measure these gaps. In eight cadaver lower extremities, gaps were measured from the proximal tibial cut surface to the registered most distal surfaces of the medial and lateral femoral condyles, measured from 0 to 120 degrees. The computer measurement was compared against metrology spacers precise to 200 microns. Tensor reproducibility was assessed using a typical teeter-toter tensor in four specimens with cruciate retained and four with sacrificing technique.

Generalised MANOVA tests were used for assessment of means of repeated measures involving the three separate experiments. There was no difference between the measurements obtained using computer navigation compared to the metrology spacers in one specimen including the re-registration group (P = NS, Beta = 0.9). The sagittal position of the knee (Flexion/Extension) did affect the magnitude of the measurements obtained. (P=.001) For comparison, descriptive statistics of spacer block versus navigation measure revealed for the medial compartment measurement, a mean (n=200) of 0.006 mm (SD: 0.32 mm) and lateral compartment measure (n=200) of 0.12 mm (SD: 0.41 mm). The projected maximum error was 1.0 mm capturing 100% of values to 90 degrees. The re-registration repeated measures experiment varied as a function of knee flexion and the repetition number. Descriptive statistics for comparison revealed a mean medial compartment measure (n=200) of 0.24 mm (SD: 0.54 mm) and lateral compartment measure(n=200) of 0.01 mm(SD: 0.42 mm).

The tensor study compared the ability of the surgeon to produce a consistent gap measure over eight separate trials. Hypothesis testing revealed significant differences as a function of degree of flexion, order of testing (with later tests having greater gaps), and the specimen being measured (P<.001, P<.001, and P<.001).

The overall conclusion of the block studies was that the computer system was accurate to at least one millimeter for measuring the gaps of the knee. The tensor study demonstrated stretching or permanent strain of the ligaments, significant differences between the angles of flexion and between the individual specimens. This is to say that each specimen was unique with variability of measurements through the range of motion.

Reverse shoulder arthroplasty has a high complication rate related to glenoid implant instability and screw loosening. Better radiographic post-operative evaluation may help in understanding complications causes. Medical radiographic imaging is the conventional technique for post-operative component placement analysis. Studies suggest that volumetric CT is better than use of CT slices or conventional radiographs. Currently, post-operative CT use is limited by metal-artifacts in images. This study evaluated inter-observer reliability of pre-operative and post-operative CT images registration to conventional approaches using radiographs and CT slices in measuring reverse shoulder arthroplasty glenoid implant and screw percentage in bone.

Pre-operative and post-operative CT scans, and post-operative radiographs were obtained from six patients that had reverse shoulder arthroplasty. CT scans images were imported into a medical imaging processing software and each scapula, glenoid implant and inferior screw were reconstructed as 3D models. Post-operative 3D models were imported into the pre-operative reference frame and matched to the pre-operative scapula model using a paired-point and a surface registration. Measurements on registered CT models were done in reference to the pre-operative scapula model coordinate frame defined by a computer-assisted designed triad positioned in respect to the center of the glenoid fossa and trigonum scapulae (medial-lateral, z axis) and superior and inferior glenoid tubercle (superior-inferior, y axis). The orthogonal triad third axis defined the anterior-posterior axis (x axis). A duplicate triad was positioned along the central axis of the glenoid implant model. Using a virtual protractor, the glenoid implant inclination was measured from its central axis and the scapula transverse plane (x - z axes) and version from the coronal plane (y - z axes). Inferior screw percentage in bone was measured from a Boolean intersection operation between the pre-operative scapula model and the inferior screw model.

For CT slices and radiographic measurements, a first 90-degree Cobb angle, from medical records software, was positioned from the trigonum scapulae to the centre of the central peg. Using the 90-degree line as reference, a second Cobb angle was drawn from the most superior to the most inferior point of the glenoid implant for inclination and from of the most anterior to the most posterior point for version. Version can only be measured using CT slices. Screw percentage in bone was calculated from screw length measures collected with a distance-measuring tool from the software.

For testing the inter-observer reliability of the three methods, measures taken by three qualified observers were analysed using an intra-class correlation coefficient (ICC) method.

The 3D registration method showed excellent reliability (ICC > 0.75) in glenoid implant inclination (0.97), version (0.98) and screw volume in bone (0.99). Conventional methods showed poor reliability (ICC < 0.4); CT-slice inclination (0.02), version (0.07), percentage of screw in bone (0.02) and for radiographic inclination (0.05) and percentage screw in bone (0.05).

This CT registration of post-operative to pre-operative novel method for quantitatively assessing reverse shoulder arthroplasty glenoid implant positioning and screw percentage in bone, showed excellent inter-observer reliability compared to conventional 2D approaches. It overcomes metal-artifact limitations of post-operative CT evaluation.

For a proper rehabilitation of the knee following knee arthroplasty, a comprehensive understanding of bony and soft tissue structures and their effects on biomechanics of the individual patient is essential. Musculoskeletal models have the potential, however, to predict dynamic interactions of the knee joint and provide knowledge to the understanding of knee biomechanics. Our goal was to develop a generic musculoskeletal knee model which is adaptable to subject-specific situations and to use in-vivo kinematic measurements obtained under full-weight bearing condition in a previous Upright-MRI study of our group for a proper validation of the simulation results.

The simulation model has been developed and adapted to subject-specific cases in the multi-body simulation software AnyBody. For the implementation of the knee model a reference model from the AnyBody Repository was adapted for the present issue. The standard hinge joint was replaced with a new complex knee joint with 6DoF. The 3D bone geometries were obtained from an optimized MRI scan and then post-processed in the mesh processing software MeshLab. A homogenous dilation of 3 mm was generated for each bone and used as articulating surfaces.

The anatomical locations of viscoelastic ligaments and muscle attachments were determined based on literature data. Ligament parameters, such as elongation and slack length, were adjusted in a calibration study in two leg stance as reference position.

For the subject-specific adaptation a general scaling law, taking segment length, mass and fat into account, was used for a global scaling. The scaling law was further modified to allow a detailed adaption of the knee region, e.g. align the subject-specific knee morphology (including ligament and muscle attachments) in the reference model.

The boundary conditions were solely described by analytical methods since body motion (apart from the knee region) or force data were not recorded in the Upright-MRI study. Ground reaction forces have been predicted and a single leg deep knee bend was simulated by kinematic constraints, such as that the centre of mass is positioned above the ankle joint. The contact forces in the knee joint were computed using the force dependent kinematic algorithm.

Finally, the simulation model was adapted to three subjects, a single leg deep knee bend was simulated, subject-specific kinematics were recorded and then compared to their corresponding in-vivo kinematic measurements data.

We were able to simulate the whole group of subjects over the complete range of motion. The tibiofemoral kinematics of three subjects could be simulated showing the overall trend correctly, whereas absolute values partially differ.

In conclusion, the presented simulation model is highly adaptable to an individual situation and seems to be suitable to approximate subject-specific knee kinematics without consideration of cartilage and menisci. The model enables sensitivity analyses regarding changes in patient specific knee kinematics following e.g. surgical interventions on bone or soft tissue as well as related to the design and placement of partial or total knee joint replacement. However, model optimisation, a higher case number, sensitivity analyses of selected parameters and a semi-automation of the workflow are parts of our ongoing work.

Navigation systems that increase alignment accuracies of the lower limbs have been applied widely in total knee arthroplasty and are currently being adopted for minimally invasive UKA (MIS UKA) with good alignment results. There is little debate that when compared with total knee arthroplasty (TKA), UKA is less invasive, causes less morbidity, better reproduces kinematics, and therefore offers quicker recovery, better range of movement and more physiologic function. However, despite improved alignment accuracies, advantages of use of navigation system in UKA in clinical outcomes and survivals are still debatable. To the best of our knowledge, no reports are available on the long-term results after UKA performing using a navigation system. The purpose of this prospective study was to compare the radiological, clinical, and survival outcomes of UKA that performed using the navigation system and using the conventional technique at average 8 years follows up.

Between January 2003 and December 2005, Total of 98 UKAs were enrolled for this study, 56 UKAs in the navigation group and 42 UKAs in conventional group were included in this study after a average 8 years follow-up. At the final follow up, 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 range of motion, Western Ontario and McMaster Arthritis index (WOMAC) scores and Knee Society (KS) score.

Of the 98 patients (98 UNI knees), 2 (2.0%) had died at a mean 5.8years after surgery because of cardiovascular disease, 3 (3.1%) underwent revision surgery that 1 cases of periprosthetic stress fractures in medial tibial plateaus in the navigation group and a case of tibial component loosening and polyethylene wear in conventional groups were observed. At a final follow up, the mean of mechanical axis was statistically different between two groups (2.7 vs. 3.9 of varus). And there were significant difference between 2 groups in terms of the mean values (p=0.042) for the tibial component coronal alignment, mean coronal alignments of tibial components were 89.1 ± 2.4° in the NA-MIS and 87.6 ± 1.8° in the MIS group, however outlier result were similar in the 2 group (5 and 5 knees, respectively, p=0.673). Sagittal alignments of femoral and tibial component were similar in the two groups (p>0.05) Significant differences were found in WOMAC or HSS knee scores, in which, stiffness did not show any difference between two groups, but pain and function showed difference at the last follow-up. The mean knee flexion has improved from 135.0 ± 14.8° and 135.0 ± 14.1° preoperatively to 137.1 ± 6.5° and 136.5 ± 7.2° in the NA-MIS and MIS groups on the latest follow-up, which was not significant different (p=0.883). The navigation system in UKA can provide improved alignment accuracy. And better clinical outcomes in pain and HSS score compared with conventional technique after a average of 8 year follow-up.

Combined acetabular and femoral anteversion (CA) of the hip following total hip arthroplasty (THA) is critical to the hip function and longevity of the components. However, no study has been reported on the accuracy in restoration of CA of the hip after operation using robotic assistance and conventional free-hand techniques. The purpose of this study was to evaluate if using robotic assistance in THA can better restore native CA than a free-hand technique.

Twenty three unilateral THA patients participated in this study. Twelve of them underwent a robotic-arm assisted THA (RIO® Robotic Arm Interactive Orthopedic System, Stryker Mako., Fort Lauderdale, FL, USA) and eleven received a free-hand THA. Subject specific 3D models of both implanted and non-implanted hips were reconstructed using post-operative CT scans. The anteversion and inclination of the native acetabulum and implanted cup were measured and compared. To determine the differences of the femoral anteversion between sides, the non-implanted native femur was mirrored and aligned with the remaining femur of the implanted side using an iterative closest point algorithm. The angle between the native femoral neck axis and the prosthesis neck axis in transverse plane was measured as the change in femoral anteversion following THA. The sum of the changes of the acetabular and femoral anteversion was defined as the change of CA after THA. A Wilcoxon signed rank test was performed to test if the anteversion of the navigation and free-hand THAs were different from the contralateral native hips (α = 0.05).

The acetabular anteversion were 22.0°±7.4°, 35.9°±6.5° and 32.6°±22.6° for the native hips, robotic assisted THAs and free-hand THAs, respectively, and the corresponding values of the acetabular inclinations were 52.0°±2.9°, 35.4°±4.4° and 43.1°±7.1°. The acetabular anteversion was increased by 12.2°±11.1° (p=0.005) and 12.5°±20.0° (p=0.102) for the robotic assisted and the free-hand THAs. The femoral anteversion was increased by 6.3°±10.5° (p=0.077) and 11.0°±13.4° (p=0.014) for the robotic assisted and free-hand THAs, respectively. The CA were significantly increased by 18.5°±11.7° (p<0.001) and 23.5°±26.5° (p=0.019) for the robotic assisted and the free-hand THAs. The changes of the CA of the free-hand THAs varied in a larger range than those of the robotic assisted THAs.

This study is the first to evaluate the changes in acetabular and femoral anteversions of the hips after robotic assisted and free-hand THAs using the contralateral native hip as a control. The results demonstrate that both the navigation and free-hand THAs significantly increased the CA compared to the contralateral native hips, but the changes of the robotic assisted THAs (18.5°±11.7°) were smaller and varied less than those of the free-hand THAs (23.5°±26.5°). These data suggest that the robotic assisted THA can better restore the native hip CAs with higher repeatability than the free-hand technique. Further studies are needed to investigate the effects of the hip anteversion changes on the in-vivo function of the hip and the long-term outcomes in THA patients.

Imageless navigation is useful in acetabular cup orientation during total hip arthroplasty (THA). There is a limitation of accuracy in the imageless navigation system because of the registration method, that is, to palpate bony landmarks over the skin. To improve this limitation, ultrasound-based navigation was introduced for more precise registration of bony landmarks. We evaluated the accuracy of placement of the implant, which was measured by CT in 66 patients. 22 patients underwent THA with imageless navigation, and 44 patients underwent THA with ultrasound-based navigation. The accuracy was evaluated by comparison of the navigation values obtained during surgery with the CT measured values.

For the 44 patients with ultrasound-based navigation system, the mean CIA was 39.6+4.1 degrees (mean+SD) and the CAA was 18.5+6.1 degrees with CT evaluation. Ultrasound-based navigation showed 39.0+3.2 degrees in CIA and 18.8+5.9 degrees in CAA during surgery. The mean absolute difference in cup inclination angle (CIA) between ultrasound-based navigation and CT was 2.4+2.1 degrees (range 0.1–9.2 degrees). The mean absolute difference in cup anteversion angle (CAA) between navigation and CT was 2.2+2.7 degrees (0.04–12.2 degrees). The rasp ante-torsion angle was 28.6+10.0 degrees in the ultrasound-based navigation system. The mean SAA was 28.8+9.3 degrees in CT. Strong correlation was found between the rasp ante-torsion angle and SAA (r=0.858). The mean absolute difference between the rasp ante-torsion angle and SAA was 4.3+3.6 degrees (0.2-17.2 degrees). For the 22 patients with imageless navigation system, the mean absolute difference between imageless navigation and CT in CIA, CAA, and SAA were 2.5+1.8 degrees (0.1–5.8 degrees), 5.4+3.8 degrees (0.1–17.2 degrees), and 5.2+3.0 degrees (1.1-12 degrees) respectively. The thickness of subcutaneous tissue at the pubic symphysis was correlated to the difference in CAA between the imageless navigation and CT (r=0.456).

Ultrasound-based navigation showed higher accuracy in CAA compare to imageless navigation. Moreover, ultrasound-based navigation showed almost the same accuracy of placement of the implant compare to the reported accuracy with CT-based navigation. Ultrasound-based navigation system improved the limitation of accuracy in the imageless navigation system.

For patients suffering from osteoarthritis confined to one compartment of the knee joint, a successful unicondylar knee arthroplasty (UKA) has demonstrated an ability to provide pain relief and restore function while preserving bone and cruciate ligaments that a total knee arthroplasty (TKA) would sacrifice. Long-term survival of UKA has traditionally been inconsistent, leading to decreased utilisation in favour of alternative surgical treatment. Robot-assisted UKA has demonstrated an ability to provide more consistent implantation of UKA prosthesis, with the potential to increase long-term survivorship.

This study reports on 65 patients undergoing UKA using an image-free, handheld robotic assistive navigation system. The condylar surface was mapped by the surgeon intra-operatively using a probe to capture a 3-dimensional representation of the area of the knee joint to be replaced. The intra operative planning phase allows the surgeon to determine the size and orientation of the femoral and tibial implant to suit the patients’ anatomy. The plan sets the boundaries of the bone to be removed by the robotic hand piece. The system dynamically adjusts the depth of bone being cut by the bur to achieve the desired result. The planned mechanical axis alignment was compared with the system's post-surgical alignment and to post-operative mechanical axis alignment using long leg, double stance, weight bearing radiographs.

All 65 knees had knee osteoarthritis confined to the medial compartment and UKA procedures were completed using the handheld robotic assistive navigation system. The average age and BMI of the patient group was 63 years (range 45–82 years) and 29 kg/m² (range 21–37 kg/m²) respectively. The average pre-operative deformity was 4.5° (SD 2.9°, Range 0–12° varus). The average post-operative mechanical axis deformity was corrected to 2.1° (range 0–7° varus). The post-operative mechanical axis alignment in the coronal plane measured by the system was within 1° of intra-operative plan in 91% of the cases. 3 out of 6 of the cases where the post-operative alignment was greater than 1° resulted due to an increase in the thickness of the tibia prosthesis implanted. The average difference between the ‘planned’ mechanical axis alignment and the post-operative long leg, weight bearing mechanical axis alignment was 1.8°. The average Oxford Knee Score (old version) pre and post operation was 38 and 24 respectively, showing a clinical and functional improvement in the patient group at 6 weeks post-surgery.

The surgical system allowed the surgeons to precisely plan a UKA and then accurately execute their intra operative plan using a hand held robotically assisted tool. It is accepted that navigation and robotic systems have a system error of about 1° and 1mm. Therefore, this novel device recorded accurate post-operative alignment compared to the ‘planned’ post-operative alignment. The patients in this group have shown clinical and functional improvement in the short term follow up. The importance of precision of component alignments while balancing existing soft-tissue structures in UKA has been documented. Utilisation of robotic-assisted devices may improve the accuracy and long-term survivorship UKA procedure.

Trauma surgeries in the pelvic area are often difficult and prolonged processes that require comprehensive preoperative planning based on a CT scan. Preoperative planning is essential for the appreciation and spatial visualisation of the bone fragments, for planning the reduction strategy, and for determining the optimal type, size, and location of the fixation hardware.

We have developed a novel haptic-based patient specific preoperative planning system for pelvic bone fractures surgery planning. The system provides a virtual environment in which 3D bone fragments and fixation hardware models are interactively manipulated with full spatial depth and tactile perception. It supports the choice of the surgical approach and the planning of the two mains steps of bone fracture surgery: reduction and fixation. The purpose of the tool is to provide an intuitive haptic spatial interface for the manipulation of bone fracture 3D models extracted from CT images, to support the selection of bone fragments, the annotation of the fracture surface, the selection and placement of fixation screws, and the creation and placement of fixation plates with an anatomically fit shape.

The system incorporates ligament models that constrain the bone fragments motions and provides a realistic interactive fracture reduction support feeling to the surgeon. It allows the surgeon to view the fracture from various directions, thereby allowing fast and accurate fracture reduction planning. Two haptic devices, one for each hand, provide tactile feedback when objects touch without interpenetrating. To facilitate the reduction, the system provides an interactive, haptic fracture surface annotation tool and a fracture reduction algorithm that automatically minimises the pairwise distance between the fracture surfaces. For fracture fixation, the system provides a screw creation and placement capability as well as custom anatomical-fit fixation plate creation and placement. The screw placement is facilitated by the transparent viewing mode that allows the surgeon to navigate the screws inside the bone fragments while constraining them to remain within the bone fragments with haptic forces.

Our experimental results with five surgeons show that the method allows highly accurate reduction planning to within 1 mm or less. To evaluate the alignment in terms of quantity, we created a model of an artificial fracture in a healthy pelvis bone. The created model is placed in its anatomic location thus allowing us to measure the error in relation to its initial position. We calculate the anatomic alignment error by measuring the Hausdorff distance in mm between the fragment positioned in the desired location and the fragment placed by the surgeon. The new haptic-based system also supports patient-specific training of pelvic fracture surgeries.

Instability is reported to account for around 20% of early TKR revisions. The concept of restoring the “Envelope of Laxity” (EoL) mandates a balanced knee through a continuous arc of functional movement. We therefore hypothesised that a single radius (SR) design should confer this stability since it has been proposed that the SR promotes normal medial collateral ligament (MCL) function with isometric stability throughout the full arc of motion.

Our aim was to characterise the EoL and stability offered by a SR cruciate retaining (CR)-TKR, which maintains a SR from 10–110° flexion. This was compared with that of the native knee throughout the arc of flexion in terms of anterior, varus/valgus and internal/ external laxity to assess whether a SR CR-TKR design can mimic normal knee joint kinematics and stability.

Eight fresh frozen cadaveric lower limbs were physiologically loaded on a custom jig. The operating surgeon performed anterior drawer, varus/ valgus and internal/external rotation tests to determine ‘maximum’ displacements in 1) native knee and 2) single radius CR-TKR (Stryker Triathlon) at 0°, 30°, 60°, 90° and 110° flexion. Displacements were recorded using computer navigation. Significance was determined by linear modelling (p≤0.05).

The key finding of this work was that the EoL offered by the SR CR-TKR was largely equivalent to that of the native knee from 0–110°. The EoL increased significantly with flexion angle for both native and replaced knees. Overall, after TKR anterior laxity was comparable with the native knee, whilst total varus-valgus and internal-external rotational laxities reduced by only 1°. However, separated varus and valgus laxities at 110° significantly increased after TKR as did anterior laxity at 30° flexion.

In conclusion, the overall EoL offered by the SR CR-TKR is comparable to that of the native knee. In the absence of soft tissue deficiency, the implant appears to offer reliable and reproducible stability throughout the functional range of movement, with exception of anterior laxity at 30° and varus and valgus laxity when the knee approaches high flexion. These shortcomings should offer scope for future work.

Osteotomy in spine and skull base surgery is a highly demanding task that requires very high precision. Compared to conventional surgical tools, laser allows contactless hard tissue removal with fewer traumas to the patient and higher machining accuracy. However, a key issue remains unsolved: how to terminate the ablation while the underlying critical soft tissue is reached?

Our research group has realised a closed-loop control of a CO₂-laser osteotomy system under the guidance of an optical coherence tomography (OCT). The OCT provides three-dimensional information about the microstructures beneath the bone surface with a resolution on micrometre scale and an imaging depth of about 0.5 mm. The OCT and CO₂-laser systems are integrated using a coaxial setup and a registration between their working spaces (mean absolute error 19.6 μm) was performed.

The laser ablation and OCT scan are performed in turn. After correction of image distortions and speckle noise reduction, the position of the critical structure can be segmented in the enhanced OCT scans. The laser parameters for the next round of ablation are foresightedly planned based on the overlying residual bone thickness. After patient motion compensation by tracking artificial landmarks in the OCT scans (accuracy: RMS 27.2 μm), the ablation pattern can be precisely carried out by the CO₂-laser. The system was evaluated by performing laser cochleostomy on native porcine cochlea and mean ablation accuracy of 30 μm has been achieved.

However, for narrow incisions that are only several tens of micrometres wide, very few pixels are visible beneath the incision bottom in the OCT and a robust segmentation of the critical structure is impossible. We are now developing a hybrid control system, which monitors the ablation-induced acoustic emission (AE) as a secondary control mechanism in addition to the OCT.

When a pre-defined “switching” depth is reached, the AE-based control module is activated. Instead of analysing the acquired signals with conventional Fourier transform, a wavelet transform-based approach has been developed, which compares the correlation coefficients of the wavelet spectra of successive laser pulses. At the transition from bone tissue to the underlying soft tissue layer, a significant change in the coefficients can be observed, which is regarded as the signal for terminating the ablation. In order to keep the injury to the soft tissue layer to a minimal level, the laser energy is reduced after the switching. Preliminary experiments revealed that the wavelet-based approach is capable of controlling the ablation using pulses with extremely low energy down to 0.04mJ/pulse, resulting in an injured tissue layer of less than 10 μm.

We expect to achieve the ablation accuracy on tens of micrometre scale using the proposed hybrid control mechanism.

To achieve 3D kinematic analysis of total knee arthroplasty (TKA), 2D/3D registration techniques which use X-ray fluoroscopic images and computer-aided design (CAD) model of the knee implants, have been applied to clinical cases. These techniques are highly valuable for dynamic 3D kinematic measurement of TKA implants, but have needed time-consuming and labor-intensive manual operations in some process. To overcome a manual operations problem of initial pose estimation for 2D/3D registration, this study proposes an improvement method for semi-automated 3D kinematic measurement of TKA using X-ray fluoroscopic images.

To automatically estimate the initial pose of the implant CAD model, we utilise a transformation with feature points extracted from the previous and next frames. A transform matrix which has three degree of freedom (translations parallel to the image, and a rotation perpendicular to the image) is calculated by registration of corresponding feature points between the previous and next frame extracted with speeded up robust features (SURF) algorithm. While, the corresponding point sets extracted by SURF sometimes include some error sets. Therefore, in this study, least median of squares method is employed to detect the error corresponding sets and calculate a transform matrix accurately. Finally, the 3D pose of the model estimated (by the 2D/3D registration) in previous frame is transformed with the accurately calculated transform matrix, and the transformed pose is used as an initial 3D pose of the model (for the 2D/3D registration) in next frame.

To validate the feasibility of the improved semi-automated 3D kinematic measurement method, experiments using X-ray fluoroscopic images of four TKA patients during knee motions were performed. In order to assess the performance of the improved method, automation rate was calculated, and the rate was defined as the X-ray frame number of satisfying clinical required accuracy (error within 1mm, 1 degree) relative to all X-ray frame number. As results of the experiments, 3D pose of the model for all X-ray images except for the first frame is automatically stably-estimated, the automation rate of the femoral and tibial component were 83.7 % and 73.5 %, respectively.

The improved method doesn't need labor-intensive manual operations for 3D kinematic measurement of TKA, and is thought to be very helpful for actual clinical practice.

Over the last decade Computer Assisted Orthopaedic Surgery (CAOS) has emerged particularly in the area of minimally invasive Unicompartmental Knee Replacement (UKR) surgery. Image registration is an important aspect in all computer assisted surgeries which is a process of developing a spatial relationship between pre-operative data, such as Computerised Tomography (CT) scans or Magnetic Resonance Imaging (MRI) scans and the physical patient in the operation theatre. It 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 techniques for CAOS in minimally invasive UKR are achieved by digitising points on the articulating surface of the knee joint using a navigated probe. By using these digitised points a rigid body is formed which is then fitted to the pre-operative scan data using a best fit type minimisation. However, this manual digitisation approach is time consuming and often takes 15–20 minutes and is therefore costly. The rationale for this study was to develop a new, quick, cost effective, contactless shape acquisition technique which could produce an accurate rigid body model in theatre from the ends of the exposed bones using 3D scans taken intra-operatively by a Laser Displacement Sensor.

Bespoke and automated 3D laser scanning techniques based on DAVID-Laserscanner have been developed and were used to scan surface geometry of the knee joint in 10 cadaveric legs. The Medial compartments of 9 joints had undergone a UKR procedure post donation but the lateral compartments were unaffected. The 9 legs were CT scanned and then segmented using Mimics 12.01 to generate 3D models of the medial compartments. The 10 legs were also MRI scanned using a 3D FLASH technique to produce 3D models of the lateral articular cartilage. All the samples were then 3D Laser scanned using a tailored plane-less technique and customised positioner assemblies. The CT and MRI generated 3D models were then registered with the corresponding 3D Laser scans in the Geomagic Qualify® package using manual surface registration. This is a type of surface (point based registration or free-form surface matching) registration which works closely on Iterative closest point (ICP) algorithm. Once the models were registered, a best fit alignment was performed between two datasets. Results indicate average best fit alignment errors and standard deviations ranging from 0.2 mm to 0.9 mm with errors normally distributed. Most of the errors could be attributed to calibration errors, segmentation errors and post-processing systematic errors.

We have demonstrated the feasibility of using a novel laser scanning technique where by acquiring multiple scans of the tibio-femoral joint in theatre, complete 3D models of the geometry and surface texture can be developed which can be registered with the pre-operative scan. The overall time for scanning, post-processing and the registration requires less than 5 minutes and is a non-invasive, cost-efficient approach. This study has provided proof of concept for a new automated registration technique with the potential for providing a quantitative assessment of the articular cartilage integrity during lower limb arthroplasty.

Total Hip Replacement (THR) accounts among the successful procedures in orthopaedic surgery. It is reported that survival rate of implants can be as high as 93% at 20 years]. Nevertheless limb length inequality may result being the cause of major discomfort and dissatisfaction for patients. Additionally limb length inequality may also be recognised as a source of an abnormal force transmission through the replaced joint, contributing to early loosening and failure of the implants. Not only limb length but also restoration of best possible femoral offset is critical to stability and long term result of the procedure.

The main objective of our study was to assess the accuracy of determining limb length and offset changes intra-operatively by using a navigation-based measurement technique (Brainlab Navigaton System). Further we examined how many measurements were within a target accuracy interval of [−3mm, +3mm] when compared to values as provided by the implant manufacturer for trial neck (standard and high offset) and ball heads lengths.

We have enrolled 60 consecutive patients between November 2010 and November 2011 with primary or secondary coxarthritis requiring total hip replacement. All patients received the Trilock stem and Pinnacle cup with cross linked PE Marathon and Biolox ceramic heads (36 mm)

The analysis is the result of a prospective comparative study. Inclusion criteria of the study were: Patients with primary or secondary osteoarthritis, patients requiring primary arthroplasty at the time of index surgery, patients operated in the timeframe between November 2010 and November 2011

The primary objective of the study was the validation of the accuracy of intraoperative limb length and offset measurement with the aid of BrainLab navigation while changing trial components such as neck (standard and high offset) and trial heads (different lengths) as reported in their nominal values by the manufacturer. Each patient has undergone the following measurements: Intraoperative navigation measurement with BrainLab Navigation System for limb length and offset determination. Patients demographics: 60 consecutive patients, 12 males, 48 females, mean age 67.83 (37 – 84) mean BMI (26.26);Navigation measurements.

Measurements obtained intraoperatively with the aid of BrainLab navigation system showed a consistent and remarkable reproducibility between the data obtained and the differences expressed in mm between the different trial components as specified by the manufacturer, i.e. it was possible to consistently reproduce the length and offset variations when changing trial component from standard to high offset for the neck and for the different ball heads lenghts.

Results show a mean difference of −0,17 mm e 0,14 mm for offset and limb length measurement respectively (SD +/− 1,24 mm), among nominal values of trial components and those recorded with navigation.

In this study we have approached the issue of limb lenght and offset determination as an intaroperative challenge that should be accurate, reproducible and provide vital information for leg length and offset determination at the moment of surgery. Intraoperative assessment of length and offset with the aid of BrainLab navigation system has proven to be a valid and accurate tool by matching the difference in measurements in an objective way i.e. by assessing and recording these differences when trial components such as neck and ball heads where changed intraoperatively. Data recorded have been compared with the nominal values for the different trial components provided by the manufacturer.

The results show mean differences of −0.17 mm and 0.14 mm for offset and length respectively (SD ±1.24 mm) between navigation and the nominal values of the trial components as per specifications.

We can therefore conclude that BrainLab navigation system is a valid, precise and reproducible tool for intraoperative limb length and offset assessment during Total Hip Arthroplasty.

Unicompartmental knee arthroplasty (UKA) has been gaining popularity in recent years due to its perceived benefits over total knee arthroplasty (TKA), such as greater bone preservation, reduced operating-room time, better post-operative range of motion and improved gait. However there have been failures associated with UKA caused by misalignment of the implants that have lead to revisions. To improve the implant alignment a robotic guidance system called the RIO Robotic Arm has been developed by MAKO Surgical Corp (Ft. Lauderdale, FL), which is 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 RCT trial of the MAKO system against the Oxford unicompartmental knee arthroplasty – a conventional UKA used in the UK. Motion analysis was used in order to obtain a quantitative assessment of their movement. The results from a total of 51 patients (23 MAKO, 28 Oxford) that underwent a one year post-operative biomechanical assessment were investigated.

Motion analysis showed that during level walking the MAKO group achieved a higher knee excursion during the highest flexion portion of the weight bearing stage of the gait cycle (foot-strike to mid-stance) compared to the Oxford group (18.6° and 15.8° respectively). This difference was statistically significant (p-value = 0.03). Other knee excursion values that were compared were from mid-stance to terminal stance, and overall knee flexion. No statistically significant differences were seen in either of these measurements. A subsequent comparison of both MAKO and Oxford groups with a matched normal cohort (50 patients), demonstrated that there wasn't a statistically significant difference between the MAKO group and the normal knees during mean knee excursion from foot-strike to mid-stance (18.6° and 19.5° respectively, p-value 0.36). However the Oxford group, with a lower knee excursion was found to be significantly different to our normal control group (15.8° and 19.5° respectively, p-value < 0.001).

This suggests that the robotic-assisted knees behaved more similarly to normal gait during this phase of the gait cycle than those of the conventional group. While significant differences in gait were found between the Oxford and MAKO groups, further work is required to determine if this results in improved knee function that is perceptible to the patient.

D-dimer is one of the useful laboratory tests to evaluate the incidence of venous thromboembolism (VTE) after the total knee arthroplasty (TKA). The most recent guideline for the prophylaxis of VTE points out the surgical procedure itself is a major risk factor for developing VTE.

Only a few literatures discuss the relationship of surgical procedures and the risk of venous thromboembolism. We therefore prospectively compare the difference of the perioperative plasma D-dimer levels between the patients undergoing navigation and convention TKA.

Two hundred consecutive total knee arthroplasties were performed between September 2011 and March 2013. The patients were randomised according to their registration to the orthopaedic clinic. Ninety-six patients (100 knees) underwent a navigation-assisted TKA and ninety-four patients (100 knees) had a conventional TKA. No intramedullary violation was done in the navigation-assisted TKA, while the intramedullary femoral guiding was adapted in the conventional group.

Pre-operative and post-operation day 1 plasma D-dimer levels were recorded and evaluated using Mann-Whitney U test. There was no difference in the demographic data and pre-operative D-dimer between the two groups (p=0.443). Significantly lower D-dimer levels on the post-operative day 1 were noted in the navigation group, when compared with the conventional group. (6.0 ± 4.4 mg/L vs 11.3 ± 9.6 mg/L, p = 0.000).

We demonstrated that lower D-dimer level is developed after the navigation-assisted TKA than the conventional one. Less incidence of VTE is expected and the finding may help to explain the fact that less systemic emboli in the navigation assisted TKA.

Osteotomies for valgus deformity are much less frequent than those for varus deformity as evidenced by published series which are, on one hand, less numerous and on the other hand, based on far fewer cases. For genu varum deformity, it has been proved that navigation allows to reach easier the preoperative correction goal. Our hypothesis was that navigation for genu valgum could be as accurate as for genu varum deformity. The aim of this paper was to present the mid-term results of 29 computer-assisted osteotomies for genu valgum deformity performed between September 2001 and March 2013.

The series was composed of 27 patients (29 knees), 20 females and 7 males, aged from 15 to 63 years (mean age: 42.4+/−14.3 years). The preoperative functional status was evaluated according to the Lyshölm-Tegner score. The mean score was of 64+/−20.5 points (18–100). The stages of osteoarthritis were evaluated according to modified Ahlbäck's criteria. We operated on 12 stage 1, 9 stage 2, 5 stage 3 and 1 stage 4. 2 female patients had no osteoarthritis but a particularly unesthetic deformity (of which one was related to an overcorrected tibial osteotomy). The pre and postoperative HKA angle was measured according to Ramadier's protocol. We measured also the medial tibial mechanical angle (MTMA) and the medial femoral mechanical angle (MFMA). The mean preoperative HKA angle was 189.3°+/−3.9° (181° to 198°); the mean MFMA was 97.2° +/− 2.6° (93° to 105°) and the mean MTMA was 90.1° +/− 2.8° (86° to 95°). The goal of the osteotomies was to obtain an HKA angle of 179° +/− 2° and a MTMA of 90°+/2° in order to avoid an oblique joint line. We performed 24 femoral osteotomies (14 medial opening wedge and 10 lateral closing wedge) and 5 double osteotomies (medial tibial closing wedge + lateral opening wedge osteotomy). The functional results were evaluated according to Lyshölm-Tegner, IKS and KOO Scores, which were obtained after revision or telephone call.

We did not find any complication except a transient paralysis of the common fibular nerve. 23 patients (4 lost to follow-up) were reviewed at a mean follow-up of 50.9+/−38.8 months (6–144). The mean Lyshölm-Tegner score was 92.9+/−4 points (86–100), the mean KOO score 89.7+/−9.3 (68–100), the mean IKS ≪knee≫ score 88.7 +/−11.4 points (60 à 100) and the mean ≪function≫ score 90.6 +/−13.3 points (55–100). 22 of the 23 reviewed patients (25 knees) were very satisfied or satisfied of the result. Regarding the radiological results, the mean HKA angle was of 180.1°+/−1.9° (176° to 185°), the mean MFMA of 90.7°+/−2.5° (86°-95°) and the mean MTMA of 89.1°+/−1.9° (86°-92°). The preoperative goal was reached in 86.2% (25/29) of the cases for HKA angle and in 100% of the cases for MTMA when performing double level osteotomy (5 cases). At this follow-up, no patient was revised to TKA.

Computer-assisted osteotomies for genu valgum deformity lead to excellent results a mid-term follow-up. Navigation is very useful to reach the preoperative goal.

Optimal alignment of the acetabular cup component is crucial for good outcome of total hip arthroplasty [THA]. Increased accuracy of implant positioning may improve clinical outcome. To achieve this, patient specific instrumentation was developed.

A patient-specific guide manufactured by 3D printing was designed to aid in positioning of the cup component with a pre-operatively defined anteversion and inclination angle. The guide fits perfectly on the acetabular rim. An alignment K-wire in a pre-operatively planned orientation is used as visual reference during cup implantation. Accuracy of the device was tested on 6 cadaveric specimens. During the experiment, cadavers were positioned for a THA procedure using a posterolateral approach. A normal-sized incision was made and approach used as in the conventional surgical procedure. The PSI was subsequently fitted onto the acetabular rim and secured into its unique position due to its patient specific design. The metallic pin was placed in a drill hole of the PSI. Post-operative CT image data of each acetabulum with the placed pin were transferred to Mimics and the 3D model was registered to the pre-operative one. The anteversion and inclination of the placed pin was calculated and compared to the pre-operatively planned orientation. The absolute difference in degrees was evaluated. A secondary test was carried out to assess the error during impaction while observing the alignment K-wire as a visual reference. In a laboratory setting, error during impaction with a visual reference of the K-wire was measured.

Deviation from planning showed to be on average 1.04° for anteversion and 2.19° for inclination. By visually aligning the impactor with this alignment K-wire, the surgeon may achieve cup placement as pre-operatively planned. The effect of the visual alignment itself was also evaluated in a separate test-rig showing minimal deviations in the same range. The alignment validation test resulted in an average deviation of 1.2° for inclination and 1.4° for anteversion between the metallic alignment K-wire used as visual reference and the metallic K-wire impacted by the test subjects. The inter-user variability was 0.9° and 0.8° for anteversion and inclination respectively. The intra-user variability was 1.6° and 1.0° for anteversion and inclination respectively. Tests per test subject were conducted in a consecutive manner.

We investigated the accuracy of two factors affecting accuracy in the cup insertion with PSI, i.e. accuracies of the errors of bony fitting and cup impaction. Since the accuracy of the major contributing factors to the overall accuracy of PSI for cup insertion with linear visual reference of a metallic K-wire was within the acceptable range of 2 to 3 degrees, we state that the PSI we have designed assists to achieve the preoperatively planned orientation of the cup and as such leads to the reduction of outliers in cup orientation. This acetabular cup orientation guide can transfer the pre-operative plan to the operating room.

When total ankle arthroplasty (TAA) is performed, although tibial osteotomy is instructed to be perpendicular to long axis of tibia, there is no established index for the talar bone corrective osteotomy. Then, we have been deciding the correction angle at the plan for adjustment of the loading axis through whole lower extremities. We studied 17 TAA cases with rheumatoid arthritis (RA). X-ray picture of hip to calcaneus view (hip joint to tip of the calcaneus) defined to show more approximated loading axis has been referred for the preoperative planning. Furthermore, the data of correction angle has been reflected to pre-designed custom-made surgical guide. If soft tissue balance was not acceptable, malleolar sliding osteotomy was added. The distance between the centre of ankle joint and the axis (preD) was measured (mm) preoperatively, and the distance between the centre of prosthesis and the axis (postD) was measured postoperatively. Next, the tilting angle between tibial and talar components (defined as the index of prosthesis edge loading) were measured with X-rays during standing. Tibio Calcaneal (TC) angle was also measured pre and postoperatively.

TC angle was significantly improved from 8.3±6.0° to 3.5±3.6° postoperatively (P=0.028). PreD was 12.9±9.6mm, and that was significantly improved to 4.8±6.3mm (postD) (P=0.006). Within 17 cases, 8 cases showed 0–1mm of postD, 4 cases showed 1–5mm of postD, remaining 5 cases concomitant subtalar fusion with severe valgus and varus hindfoot deformity showed over 8mm of postD. All of the 12 cases showing within 5mm of postD indicated within 13mm of preD. The tilting angle between components was 0.17±0.37° postoperatively.

Taken together, pre-designed corrective talar osteotomy based on preoperative planning using hip to calcaneus view was useful to adjust the mechanical axis for replaced ankle joint in RA cases. Furthermore, after surgery, the hip to calcaneus view was useful to evaluate post-operative mechanical axis of whole lower extremities.

In a „true“ valgus knee the lateral femoral condyle is smaller in both the vertical and anteroposterior dimensions and lateral soft tissue structures are contracted. In a „false“ valgus knee there is no mismatch between anteroposterior dimensions of both condyles. The aim of the study was to preoperatively analyse patterns of passive movement of valgus knees with imageless navigation system to optimise surgical approach during subsequent total knee replacement (TKR).

TKR were prospectively performed in 50 valgus knees. After the data registration process, the kinematic analysis was performed by passive movement of the knee. The mechanical axis was recorded at 0°, 30°, 60°, 90°, and 120° of flexion. The valgus deformity persistent through the whole range of motion was called „true“ and the valgus deformity passing into varus with flexion was called „false“.

The pre-operative valgus deformity in extension ranged from 13° to 4° (mean 7.8°). We observed „true“ valgus type deformity during passive range of movement in 34 cases (68%) and „false“ type of kinematics in 16 cases (32%). The average value of valgus deviation in extension in „true“ group was 7.9° (range 13° to 4°) and in „false“ group 7.5° (range 9° to 6°). The mean difference between axis deviation in 0° to 120° range of flexion was 5.5° (range 10° to 1°) in the „true“ valgus group. In the „false“ valgus group the varus deviation was observed in 90° of flexion in all cases and mean difference between axis deviation in 0° to 120° range of flexion was 12.0° (range 14° to 10°).

Computer navigation can easily help to identify the character of valgus deformity („true“ or „false“) just before skin incision. In „true“ valgus deviation lateral approach may be necessary for appropriate soft tissue balancing during TKR surgery.

The radiologic and clinical results of High Tibial Osteotomies (HTO) strongly rely on the accuracy of correction, and inadequate intraoperative measurements of the leg axis can lead to over or under- correction. Over the past few years, navigation systems have been proven that navigation systems provide reliable real-time intro-operative information, may increase accuracy, and improves the precision of orthopaedic surgeries. We assessed the radiological and clinical results of navigation- assisted open wedge HTO versus conventional HTO at 24 months after surgery.

A total of sixty-five open wedge HTOs were performed using navigation system and compared with forty-six open HTOs that had been performed using the conventional cable technique in terms of intraoperative leg axis assess. The Orthopilot navigation system (HTO version 1.3, B. Braun Aesculap, Tuttligen, Germany) used throughout the procedure of navigated open wedge HTO. The aim of the correction was to achieve of 3°of valgus (2–4°) on both method. For the radiological evaluation, postoperative leg axes were examined using weight bearing full-leg radiography obtained at postoperative two years after surgery. To assess correction accuracies, we compared mechanical tibiofemoral angles and intersections of the mechanical axis of the tibial plateau (%) in both groups. Outliers were defined as under-corrections of < 2° of valgus and as over-corrections of > 5° of valgus. The posterior slope of the proximal tibia was measured using the proximal tibial anatomical axis (PTAA) method. HSS (Hospital for Special Surgery) scores and ROMs (ranges of motion) were evaluated and all complications were recorded and surgical and radiation times were measured.

Navigated HTOs corrected mechanical axes to 2.8° valgus (range −3.1∼5.3) with few outliers (9.5%), and maintained posterior slopes (8.5±2.3° preoperatively and 11.0±2.8° postoperatively) (P>0.05). In the conventional group, the mean valgus correction was satisfactory (2.2° valgus), but only 67.4% were within the required range (2∼5° valgus), and 26.1% of cases were under-corrected and 6.5% of cases were over-corrected. Posterior slope increased from 8.0° to 10.6° on average without significant change after surgery. Total fluoroscopic radiation time during navigated HTO was 8.1 seconds (5∼12s) as compared with 46.2 seconds (28∼64 s) during conventional HTO (p<0.05). The surgery time for navigated HTO was 11.2 minutes longer than for conventional HTO (55.5 minutes). No specific complications related to the navigation were encountered. At clinical follow up, mean HSS scores of the navigated HTO and conventional groups improved to 91.8 and 92.5 from preoperative values of 55.3 and 55.9, respectively (p>0.05), and all patients achieved full ROM.

Navigation for HTO significantly improved the accuracy of postoperative leg axis, and decreased the variability of correction with fewer outliers, and without any complications. Moreover, it allows multi-plane measurements to be made, in the sagittal and transverse planes as well as the frontal plane intra-operatively in real time, compensates to some extent for preoperative planning shortcomings based on radiography, and significantly reduces radiation time.

While image guidance and neuro-navigation have enabled a more accurate positioning of pedicle implants, robot-assisted placement of pedicle screws appears to overcome the disadvantages of the two first systems. However, recent data concerning the superiority of robots currently available to assist spinal surgeons in the accurate positioning of implants are conflicting. The aim of our study was to evaluate the percentage of accurate positioning of pedicle screws inserted using a new robotic-guidance system.

Patients were operated on successively by the same surgeon using robotic-assistance (RA; n=40) or by the freehand conventional technique (FH; n=54). Ten and eleven patients from the robot (RG) and freehand (FHG) groups respectively, age-matched and all suffering from degenerative lumbar spine disease were compared. Patient characteristics as well as the duration of the operation and of exposure to X-rays were recorded. The Gertzbein Robbins classification was used to evaluate implant placement. Data wer compared between the groups. Pedicle screw placement in RG patients was achieved using the ROSA™ (Medtech) robot comprising a compact robotic arm on a floor-fixable mobile base. By permanently monitoring the patient's movements, this image-guided tool helps more accurately to pinpoint the pedicle entry point and to control the trajectory.

The mean age of patients in each group (RG and FHG) was 63 years. Mean BMI and operating time among the RG and FHG were respectively 26 and 27 kg/m², and 187 and 119 min. Accurate placement of the implant (score A-B) was achieved in 97.2% of patients in the RG (n=36) and in 92.6% of those in the FHG (n=54). Four implants in the RG were placed manually following failed robotic assistance. The mean duration of X-ray exposure per patient was 1 min 42s in the RG and 41s in the FHG.

We report a higher rate of accuracy with robotic assistance as compared to the FH technique. Exposure time was greater in the RG partly due to the fluoroscopic control of the implants required for this pilot study of feasibility. Limitations of the study include its small sized and non-randomised sample. Nevertheless, these preliminary results are encouraging for the development of new robotic techniques for spinal surgery.

Component malposition in total hip arthroplasty (THA) contributes to wear, dislocation, and leg length discrepancy (LLD). Robotic assisted total hip arthroplasty (rTHA) utilises computer-assisted haptically guided bone preparation and implant insertion to improve accuracy. The goal of this study is to compare accuracy and clinical outcome with manual THA (mTHA) and rTHA at minimum 1 year follow-up interval.

Consecutive primary THA performed by one fellowship trained surgeon included: the first 100 mTHAs in his clinical practice (Group1- year 2000), the last 100 mTHAs before rTHA use (Group2- year 2010), and the first 100 rTHA (Group3- year 2011). All THAs utilised cementless implants, cross-linked polyethylene, and a posterior approach. Comparisons included age, sex, diagnosis, implant head size, blood loss (EBL), operative time, LLD, early dislocation and infection. Acetabular abduction (AAB), anteversion (AAV), and LLD were measured using validated software (Martell Hip Analysis Suite). The Lewinnek safe zone defined accuracy (AAB- 30°-50°, AAV- 5°-25°). Statistical analysis included ANOVA, Chi squared, and Fisher tests. Power analysis demonstrated adequate sample sizes.

No differences were noted regarding group demographics. Average operative times varied: Group 1, 2, and 3- (160, 129, and 143 minutes, respectively). No deep infections occurred in any group. LLD greater than 1.5 cm varied: Groups 1, 2, and 3 (9%, 1%, 1%, respectively). Dislocation rates varied: Groups 1, 2, and 3- (5%, 3%, and 0%, respectively). EBL was less with rTHA than mTHA (Groups 1, 2, 3: 533cc, 437cc, 357cc, respectively). Average implant head size increased comparing Groups 1, 2, and 3 (31mm, 34.6mm, and 35.2mm, respectively). AAB accuracy varied: Groups 1, 2, and 3 (66%, 91%, and 98%, respectively). AAB greater than 55 degrees varied: Groups 1, 2, and 3 (15%, 1%, and 0%, respectively). There was a 3% fractured acetabular liner rate in Group 1, all cases occurred with AAB > 55 degrees, and AAB greater than 55 degrees correlated with increased acetabular liner fracture rate (20% vs. 0%, P < 0.05). No cases of fractured acetabular liners occurred in Group 2 or 3. rTHA improved AAV accuracy compared with mTHA (Group 2- 48%, Group 3- 75%; p<0.0001). Improved acetabular component accuracy with rTHA correlated with lower dislocation rates compared with mTHA (p<0.001).

Total hip arthroplasty performed with traditional manual techniques has demonstrated excellent clinical outcomes in the majority of patients with many THA designs if components are placed accurately. Limitations in mTHA remain that alter results if accurate component placement is not achieved. In our study, clinical experience over 10 years improved AAB accuracy with mTHA, but AAV remained problematic. rTHA improved AAB and AAV accuracy compared with mTHA and demonstrated reduced early dislocation rates, improved rate of LLD, and reduced acetabular liner fracture risk compared with mTHA (p<0.05). Average rTHA operative times were 14 minutes longer than mTHA (Group 2), but this was not associated with increased EBL or infection rates. Further study is needed to evaluate whether the short term clinical and radiographic advantages noted with rTHA compared with mTHA will be maintained at longer follow up intervals.

Sagittal pelvic tilt (PT) has been shown to effect the functional position of acetabular components in patients with total hip replacements (THR). This change in functional component position may have clinical implications including increased likelihood of wear or dislocation. Surgeons can use computer-assisted navigation intraoperatively to account for a patient's pelvic tilt and to adjust the position of the acetabular component. However, the accuracy of this technique has been questioned due to the concern that PT may change after THR. The purpose of this study was to measure the change in PT after THR, and to determine if preoperative clinical and radiographic parameters can predict PT changes after THR.

138 consecutive patients who underwent unilateral THR by one surgeon received standing bi-planar lumbar spine and lower extremity radiographs preoperatively and six weeks postoperatively. Patients with prior contralateral THR, conversion THR and instrumented lumbosacral fusions were excluded. PT and pelvic incidence (PI) were measured preoperatively for each patient, and PT was measured on the postoperative imaging. A negative value for PT indicated posterior pelvic tilt. Patient demographics were collected from the chart.

Average age was 56.8±10.9 years, average BMI was 28.3±6.0 kg/m2, and 67 patients (48.6%) were female. Mean preoperative pelvic tilt was 0.6°±7.3° (range: −19.0° to 17.9°). We found greater than 10° of sagittal PT in 23 out of 138 (16.6%) patients in this sample. Mean post-operative pelvic tilt was 0.3°±7.4° (range: −18.4° to 15.0°). Mean change in pelvic tilt was −0.3°±3.6° (range: −9.6° to 13.5°). PT changed by less than 5° in 119 of 138 patients (86.2%). The mean difference in pre-operative and post-operative PT is not statistically significant (p = 0.395). Pre-operative PT was strongly correlated with post-operative PT (r2 = 0.88, p = 0.0001) (Figure 1). There was not a statistically significant relationship between PI and change in PT (r2 = −0.16, p = 0.06).

In conclusion, based on the variability in pelvic tilt in this study population and the relatively small change in pelvic tilt following THA tilt-adjustment of the acetabular component position based on standing pre-operative imaging is likely to be of benefit in the majority of patients undergoing navigated THA. However, we have been unable to predict the relatively rare occurrence of a large change in pelvic tilt, which would confound tilt-adjusted component position.

Surgeons often target the Lewinnek zone (40°±10° of inclination; 15°±10° of anteversion) for acetabular orientation during total hip arthroplasty (THA). However, matching native anteversion (20°-25°) may achieve optimal stability. The purpose of this study was to (1) determine incidence of early dislocation with increased target acetabular anteversion, and (2) report the accuracy of imageless navigation for achieving target acetabular position in a large, single-surgeon cohort.

A posterolateral approach with soft tissue repair was performed in the 553 THA meeting the inclusion criteria. The same imageless navigation system was used for acetabular component placement in all THA. Target acetabular orientation was 40° ± 10° of inclination and 25° ± 10° of anteversion. Computer software was used to measure acetabular positioning on 6-week postoperative anteroposterior pelvic radiographs. Incidence of dislocation within 6 months of surgery was determined. Repeated measures multiple regression using the Generalised Estimating Equations approach was used to identify baseline patient characteristics (age, gender, BMI, primary diagnosis, and laterality) associated with component positioning outside of the targeted ranges for inclination and anteversion. Fisher exact tests were used to examine the relationship between dislocation and component placement in either the Lewinnek safe zone or the targeted zone. All tests were two-sided with a significance level of 0.05.

Mean inclination was 42.2° ± 4.9°, and mean anteversion was 23.9° ± 6.5°. 82.3% of cups were placed within the target zone. Variation in anteversion accounted for 67.3% of outliers. Only body mass index was associated with inclination outside the target range (p = 0.017), and only female gender was associated with anteversion outside the target range (p = 0.030). Six THA (1.1%) experienced early dislocation, and 3 THA (0.54%) were revised for multiple dislocations. There was no relationship between dislocation and component placement in either the Lewinnek zone (p = 0.224) or the target zone (p = 0.287).

This study demonstrates that increasing target acetabular anteversion using the posterolateral approach does not increase the incidence of early THA dislocation. However, the long-term effects on bearing surface wear and stability must be elucidated. The occurrence of instability even in patients within our target zone emphasises the importance of developing patient-specific targets for THA component alignment.

Obesity is a risk factor for acetabular malposition when total hip arthroplasty (THA) is performed with manual orientation techniques. However, conflicting evidence exists regarding the usefulness of computer-assisted surgery for performing THA in obese patients. The purpose of this study was to compare the precision and accuracy of imageless navigation for acetabular component placement in obese versus non-obese patients.

After institutional review board approval, 459 THA performed for primary hip osteoarthritis were reviewed retrospectively. The same imageless navigation system was used for acetabular component placement in all THA. During surgery the supine anterior pelvic plane was referenced superficially. THA was performed via posterolateral approach in the lateral position. A hemispherical acetabular component was used, with target inclination of 40° and target anteversion of 25°. Computer software was used to determine acetabular orientation on postoperative anteroposterior pelvic radiographs. Obese patients (BMI ≥ 30 kg/m2) were compared to non-obese patients. A 5° difference in mean orientation angles was considered clinically significant. Orientation error (accuracy) was defined as the absolute difference between the target orientation and the measured orientation. Student's t test was used to compare means. Hartley's test compared variances of the mean differences (precision). Fisher exact tests examined the relationship between obesity and component placement in the target zone (target ± 10°) for inclination and version. All statistical tests were two-sided with a significance level of 0.05.

Differences in mean inclination and anteversion between obese and non-obese groups were 1.1° (p=0.02 and p=0.08, respectively), and not clinically significant. Inclination accuracy trended toward improvement for non-obese patients (p=0.06). Inclination precision was better for non-obese patients (p=0.006). Accuracy and precision for anteversion were equal between the two groups (p=0.19 and p=0.95, respectively). There was no relationship between obesity and placement of the acetabulum outside of the target ranges for inclination (p=0.13), anteversion (p=0.39) or both (p=0.99), with a trend toward more inclination outliers in obese patients versus non-obese patients (7.3% versus 3.9%).

The observed differences in mean acetabular orientation angles were not clinically significant (< 5°), although inclination orientation was less accurate and precise for obese patients. In contrast to existing literature, we found no difference in the accuracy and precision with regard to anteversion in obese and non-obese patients. We propose that accurate superficial registration of landmarks in obese patients is achievable, and the use of imageless navigation likely improves acetabular positioning in obese and non-obese patients.

According to the Canadian Joint Replacement Registry, in 2010–2011 there were 17,303 hip replacements performed in Canada of which 10% were revisions. More than 73% of these revisions were for aseptic loosening, wear, and instability which suggests that hip biomechanics may be anomalous. The hip joint is often described as a ball-and-socket joint, which implies congruent interacting bony joint surfaces and purely rotational relative motion. This study challenges the accepted kinematic description by analysing detailed motion of the hip joint using surgical navigation technology.

An in-vitro study was conducted using twelve fresh frozen cadaveric human hemi-pelvises in three soft-tissue states. Three dimensional digital models of each specimen were generated from segmentation of computed tomography images. Local coordinate reference devices, mounted on the proximal femur and anterior-superior iliac spine, were registered and tracked with an active optical localisation system. Positions and orientations were imported to custom virtual surgery software. The study used soft-tissue states as one variable and twelve combinations of flexion/extension, abduction/adduction and internal/external rotation as the other variable. The entire series of motions were repeated for (I) soft tissues intact, (II) capsule intact and (III) completely disarticulated joint. Translation of the femoral head with respect to the acetabular cup at each frame was extracted from the recorded data. An Analysis of Variance (ANOVA) was used to determine whether the means of translations in each dissection states were significantly different.

Translatory motion was observed in all specimens. Significant differences were found between magnitudes of translation in distinct soft tissue states (p<0.001). Investigation of sudden changes in translational tracks of each femoral head, plotted as 2-D wave forms, showed that there were no correlations between contact zones and excursions. Interestingly, three specific maneuvers were found to be more likely to cause maximal translations: ankle on knee (where the femur is flexed and externally rotated while being abducted), ankles crossed (where the femur is flexed and externally rotated while being adducted) and the pivot (where the femur is extended and externally rotated while the pelvis is abducted).

The highly accurate surgical navigation system detected subtle translatory behaviour in hip motion. The data provided evidence that the femoral head translates with respect to the acetabular cup with or without any contact between the two bones; such impingements were previously thought to be the main reason for femoral excursion. The statistical significance found between translations exhibited at different soft tissue states indirectly supports an aspherical model of the adult hip, with kinematics driven by both soft tissue and the anatomy. This work towards an improved biomechanical model of the hip could help guide both surgical intervention and implant design, leading to improved outcomes for the hundreds of thousands of hip surgeries performed globally each year.

The problem associated with ceramic on ceramic total hip replacement (THR) is audible noise. Squeaking is the most frequently documented sound. The incidence of squeaking has been reported to wide range from 0.7 to 20.9%. Nevertheless there is no study to investigate on incidence of noise in computer assisted THR with ceramic on ceramic bearing. The purpose of this study was to determine the incidence and risks factors associated with noise. We retrospectively reviewed 200 patients (202 hips) whom performed computer assisted THR (Orthopilot, B. Braun, Tuttlingen, Germany) with ceramic on ceramic bearing between March 2009 and August 2012. All procedures underwent uncemented THR with posterior approach by single surgeon. All hips implanted with PLASMACUP and EXIA femoral stem (B. Braun, Tuttlingen, Germany). All cases used BIOLOX DELTA (Ceramtec, AG, Plochingen, Germany) ceramic liner and head. The incidence and type of noise were interviewed by telephone using set of questionnaire. Patient's age, weight, height, body mass index, acetabular cup size, femoral offset size determined from medical record for comparing between silent hips and noisy hips. The acetabular inclination angle, acetabular anteversion angle, femoral offset, hip offset were reviewed to compare difference between silent hips and noisy hips. The audible noise was reported for 13 hips (6.44%). 5 patients (5 hips) reported click (2.47%) and 8 patients (8 hips) squeaked (3.97%). The mean time to first occurrence of click was 13.4 months and squeak was 7.4 months after surgery. Most common frequency of click was less than weekly (60%) and squeak was 1–4 times per week (50%). Most common activity associated with noise was bending; 40% in click and 75% in squeaking. No patients complained for pain or social problem. Moreover, no patient underwent any intervention for the noise. The noise had not self-resolved in any of the patients at last follow up. Age, weight, height and BMI showed no statistically significant difference between silent hips and click hips. In addition, there was also same result between silent hips and squeaking hips. Acetabular cup insert size and femoral offset stem size the results showed that there was no statistically significant difference between silent hips and click hips, also with squeaking hips. Acetabular inclination, angle acetabular anteversion angle, femoral offset, hip offset the results shown that only acetabular anteversion angle differed significantly between silent hips (19.94±7.78 degree) and squeaking hips (13.46±5.54 degree).

The results can conclude that incidence of noise after ceramic on ceramic THR with navigation was 6.44 %. Squeaking incidence was 3.97% and click incidence was 2.47%. The only associated squeaking risk factor was cup anteversion angle. In this study, squeaking hip had cup anteversion angle significant less than silent hip.

In recent years internal fixation of the spine by using posterior approach with minimally invasive and percutaneous technique were increasingly used in trauma. The percutaneous surgery lose information and navigation is supposed to provide better data because the lost information is found again. We hypothesise that a percutaneous minimal invasive dorsal procedure by using 3D intra-operative imaging for vertebral fractures allows short operating times with correct screw positioning and does not increase radiation exposure.

59 patients were included in this prospective, monocentric and randomised study. 29 patients (108 implants) were operated on by using conventional surgical procedure (CP) and 30 patients (72 implants) were operated on by using a 3D fluoroscopy-based navigation system (3D fluo). In the two groups, a percutaneous approach was performed for transpedicular vertebroplasty or percutaneous pedicle screws insertion. In the two groups surgery was done from T4 level to L5 levels. Patients (54 years old on average) suffered trauma fractures, fragility fractures or degenerative instabilities. Evaluation of screw placement was done by using post-operative CT with two independent radiologists that used Youkilis criteria. Operative and radiation running time were also evaluated.

With percutaneous surgery, the 3D fluo technique was less accurate with 13.88% of misplaced pedicle screws (10/72) compared with 11.11% (12/108) observed with CP. The radiation running time for each vertebra level (two screws) reached on average 0.56 mSv with 3D fluo group compared to 1.57 mSv with the CP group. The time required for instrumentation (one vertebra, two screws) with 3D fluo was 19.75 minutes compared with CP group 9.19 minutes. The results were statistically significant in terms of radiation dose and operative running time (p < 0.05), but not in terms of accuracy (p= 0.24).

With percutaneous procedures, 3D fluoroscopy-based navigation (3D fluo) system has no superiority in terms of operative running time and to a lesser degree in terms of accuracy, as compared to 2D conventional procedure (CP), but the benefit in terms of radiation dose is important. Other advantages of the 3D fluo system are twofold: up-to-date image data of patient anatomy and immediate availability to assess the anatomical position of the implanted screws.

In orthopedic surgeries, it is critical to reduce the risks of drilling complications during bone fracture fixation, especially around critical organs such as in acetabula-pelvic procedures. Either over-drilling or x-ray overuse shall be avoided to reduce potential complications to the surrounding critical organs or tissues. Toward recognising perforation process during bong drilling, we employed drilling vibration signal analysis based on the measurements from miniature inertial sensors. Time-frequency analysis is used for features extractions, which show that information from drilling vibration measurements could reveal the drilling process, hence help doctors track the drilling process and avoid over-drilling.

We addressed the aforementioned challenges through inertial sensor development, vibration measurements, and time-frequency signal analysis. In the preliminary ex-vivo bone drilling experiment setup, an inertial sensor is mounted on a pig femur bone with two fixing nails and can capture 3-axes acceleration data during drilling procedures. A cordless drill is used with Kirschner wires (K-wires) and the diameter of the pin is 3.5 mm. The mounting locations of inertial sensors are close to actual drilling entries without affecting normal procedures. The recorded vibration signals indicate how the drill is interacting with surrounding bone tissues, which shall have different patterns along the deep drilling process. After normalisation, the power spectral density (PSD) is calculated to examine the frequency domain representation of the time series during drilling process. As the drilling vibration process along the bone is non-stationary, we further employ wavelet transform for more localised time-frequency analysis.

When the bone substance interacts with drill bits, compact substance and spongy substance have different bone densities and structures, thus inducing different vibration waveform patterns. In our preliminary experiments, we recorded acceleration data from the pig femur drilling process, where a surgical drill penetrates from compact substance, spongy substance and then to compact substance again. The article shows the feasibility study of estimating femur bone drilling process based on vibrations signals captured from low-cost miniature inertial sensors. Through a preliminary animal ex-vivo bone study, the proposed framework of time-frequency wavelet analysis indicates the drilling interface between compact substance and spongy substance. It shows potentials in perforation recognition along drilling process and more clinical studies will be performed for validating its capability in over-drilling avoidance.

The goal of tibial tray placement in total knee arthroplasty (TKA) is to maximise tibial surface coverage while maintaining proper rotation. Maximising tibial surface coverage without component overhang reduces the risk of tibial subsidence. Proper tibial rotation avoids excess risk of patellar maltracking, knee instability, inappropriate tibial loading, and ligament imbalance. Different tibial tray designs offer varying potential in optimising the relationship between tibial surface coverage and rotation. Patient specific instrumentation (PSI) generates customised guides from an MRI- or CT-based preoperative plan for use in TKA. The purpose of the present study was to utilise MRI information, obtained as part of the PSI planning process, to determine, for anatomic, symmetric, and asymmetric tibial tray designs, (1) which tibial tray design achieves maximum coverage, (2) the impact of maximising coverage on rotation, and (3) the impact of establishing neutral rotation on coverage.

MR images for 100 consecutive patients were uploaded into Materialise™ PSI software that was used to evaluate characteristics of tibial component placement. Tibial component rotation and surface coverage was analysed using the preoperative planning software. Anatomic (Persona™), symmetric (NexGen™), and asymmetric (Natural-Knee II™) designs from a single manufacturer (Zimmer™) were evaluated to assess the relationship of tibial coverage and tibial rotation. Tibial surface coverage, defined as the proportion of tibial surface area covered by a given implant, was measured using Adobe Photoshop™ software. Rotation was calculated with respect to the tibial AP axis, which was defined as the line connecting the medial third of the tibial tuberosity and the PCL insertion.

When tibial surface coverage was maximised, the anatomic tray compared to the symmetric/asymmetric trays showed significantly higher surface coverage (82.1% vs 80.4/80.1%; p<0.01), significantly less deviation from the AP axis (0.3° vs 3.0/2.4°; p<0.01), and a significantly higher proportion of cases within 5° of the AP axis (97% vs 73/77%). When constraining rotation to the AP axis, the anatomic tray showed significantly higher surface coverage compared to the symmetric/asymmetric trays (80.8% vs 76.3/75.8%; p<0.01). No significant differences were found between symmetric and asymmetric trays.

We found that the anatomic tibial tray resulted in significantly higher tibial coverage with significantly less deviation from the AP axis compared to the symmetric and asymmetric trays. When rotation was constrained to the AP axis, the anatomic tray resulted in significantly higher tibial coverage than the symmetric and asymmetric trays. Tibial rotation is recognised as an important factor in the success of a total knee replacement. Maximising coverage with the least compromise in rotation is the goal for tibial tray design. In this study, the anatomic tibia seemed to optimise the relationship between tibial surface coverage and rotation. This study additionally illustrates the way by which advanced preoperative planning tools (ie. MRI/computer reconstructions) allow us to obtain valuable information with regard to implant design.