[Computer assisted surgery, 2001 development and prospects. Results of a congress at Reisensburg Castle, 23-24 November 2000]]. / Computer assistierte Chirurgie, Entwicklung und Perspektiven 2001. Ergebnisse einer Arbeitstagung auf Schloss Reisensburg, 23./24.11.2000.

The progress in computer assisted surgery (CAS) is influenced by new technologies in imaging as well as by the input of the users. At present, CAS procedures are established in dorsal spine instrumentation, prosthetics and long bone surgery. Present status and future of CAS was a topic of an expert meeting at the Reisensburg castle. Imaging will speed up in the future using multi-detector techniques. C-arm navigation will gain more information using the 3D technology intraoperatively. CT based navigation procedures are standard in spine and will be established in pelvic surgery. CAS in robotics at the moment means the use of robot-assistance. A new concept is the modality-based navigated surgery, which can be used at various skeletal locations. Visualization of patient data will improve using 3D semi-transparencies with real time update. In the future it will be mandatory to find algorithms to fuse the different possibilities and techniques. A new concept of surgical training is necessary to teach CAS procedures. Therefore discussion must go on to improve these systems.

[Computer-assisted surgery: developments and prospects in 2001. Results of a workshop at Schloss Reisenburg, 23-24 November 2000]. / Computer assistierte Chirurgie, Entwicklung und Perspektiven 2001. Ergebnisse einer Arbeitstagung auf Schloss Reisenburg, 23./24.11.2000.

The progress in computer assisted surgery (CAS) is influenced by new technologies in imaging as well as by the input of the users. At present, CAS procedures are established in dorsal spine instrumentation, prosthetics and long bone surgery. Present status and future of CAS was a topic of an expert meeting at the Reisensburg castle. Imaging will speed up in the future using multi-detector techniques. C-arm navigation will gain more information using the 3D technology intraoperatively. CT based navigation procedures are standard in spine and will be established in pelvic surgery. CAS in robotics at the moment means the use of robot-assistance. A new concept is the modality-based navigated surgery, which can be used at various skeletal locations. Visualization of patient data will improve using 3D semi-transparencies with real time update. In the future it will be mandatory to find algorithms to fuse the different possibilities and techniques. A new concept of surgical training is necessary to teach CAS procedures. Therefore discussion must go on to improve these systems.

A pilot study on computer-assisted optimal contouring of orthopedic fixation devices.

Bending and shaping of longitudinal orthopedic fixation devices like rods and plates is often a difficult and time-consuming process to perform during surgery under sterile conditions. This study presents a novel device for implant contouring and introduces two strategies to obtain parameters necessary for the bending process. The first strategy is based on surgical navigation techniques as established within the framework of computer-assisted orthopedic surgery. Geometrical landmarks, e.g., the location of pedicle screws in a case of posterior spinal fixation, are collected with a three-dimensional pointing device. Subsequently, the final shape of the implant and the associated contouring parameters are calculated. The alternative strategy utilizes a flexible material intended to be used intra-operatively to enable the optimal shape of the implant to be modeled by hand. Contour parameters are calculated from a depth image of this model obtained using an object scanner. Bending of spinal rod systems is used to illustrate both strategies. A newly designed semi-automatic bending machine is proposed to impose the computed deformation on the implant material once parameters are obtained. Integrating the bending device into a system for computer-assisted surgery allows for the interactive control of the contouring process.

Improved accuracy of pedicle screw insertion with computer-assisted surgery. A prospective clinical trial of 30 patients.

STUDY DESIGN: A prospective clinical trial was done to study the accuracy of pedicle screw placement in 30 consecutive computer-assisted orthopedic surgeries. OBJECTIVES: To determine the accuracy and clinical applicability of this new method for pedicle screw insertion. SUMMARY OF BACKGROUND DATA: Conventional screw insertion techniques have been associated with high pedicle screw malplacement rates in cadaver studies and clinical studies with postoperative computed tomography evaluation. METHODS: Thirty transpedicular, low-back, titanium instrumentations were performed with computer-assisted orthopedic surgery. The accuracy of screw placement was evaluated using a sophisticated computed tomography protocol. RESULTS: The total number of pedicle screws was 174. Of these, 139 (79.9%) could be inserted with computer-assisted orthopedic surgery. The malplacement rate of computer-assisted orthopedic surgery screws was 4.3%. In screws that were not inserted by computer-assisted orthopedic surgery, the malplacement rate was 14.3%. One malplaced screw that had not been inserted with computer-assisted orthopedic surgery caused L4 root paresis. CONCLUSIONS: The accuracy of pedicle screw placement using computer-assisted surgery proved to be superior to the accuracy obtained when using conventional techniques.

Accuracy of computer-assisted pedicle screw placement. An in vivo computed tomography analysis.

STUDY DESIGN: A computer-assisted planning and visualization system (the Orthopaedic Surgery Planning System) was tested for pedicle screw insertion in vivo. OBJECTIVES: To evaluate the system's applicability for regular intraoperative use and its accuracy for pedicle screw placement in vivo. SUMMARY OF BACKGROUND DATA: Pedicle screw placement poses considerable anatomic and biomechanical risks. The reported rates of screw misplacement with conventional insertion techniques are unacceptably high. It previously has been shown in vitro that computer assistance offers the potential to decrease the number of screws perforating the pedicular cortex. METHODS: The accuracy of 162 pedicle screws inserted with the Orthopaedic Surgery Planning System was assessed by means of postoperative computed tomography evaluation. Reconstructions of the horizontal, frontal, and sagittal planes were analyzed. Cortex perforations were graded in steps of 2 mm. RESULTS: The cortex was perforated in 2.7% of pedicles. Complete preoperative computed tomography scanning of the levels to be operated on is essential to allow for a precise image reconstruction. Initial difficulties in applying the system contribute to the malplacements. A learning curve for general handling of the Orthopaedic Surgery Planning System was observed. CONCLUSIONS: The system provides a safe and reproducible technique for pedicle screw insertion. Other applications in the field of spine surgery are under evaluation.

Man-machine interfaces in computer assisted surgery.

The clinical potential of computer assisted surgery (CAS) has been more and more widely acknowledged since CAS systems have been introduced into the operating room (OR) theater. Especially the improvements in safety and accuracy are remarkable and strengthen the ties between surgeons and engineers. Tumor stereotaxis was introduced to neurological surgery in the early 1980s, and currently systems with and without robotic navigation are in use for specific medical indications. Recently, solutions for computer assisted orthopedic surgery were developed and applied to various anatomical regions. However, with the establishment of CAS in vivo, a new complex of problems, which was not present in the laboratory setup, was introduced: the man-machine interface. Currently, the complexity of available CAS systems requires the presence of at least one system engineer (often called the "operator") in the OR. As a consequence, there is no possibility for direct communication between the surgeon and the machine or software. Most of the program steps involved in CAS and choices to be made intraoperatively have to be transferred to the software by means of communication of the surgeon with the operator. Particularly, the establishment of a relation between the virtual object (i.e., a medical image) and the surgical object (i.e., the patient), often denoted as "matching" or "skeletal registration," requires intensive interaction of the surgeon with the computer. A literature survey revealed that no CAS system in clinical use exists without a system engineer or a comparable person, and our clinical experience indicated that the matching process is a weak point in most systems. Because it appears to be contradictory to cost-reduction efforts in health care to have a highly paid specialist in the OR, this research evaluates strategies to facilitate the man-machine interface with the final goal of establishing a direct control of the system by the surgeon or the medical personnel traditionally present at surgery. Options to be investigated include 1) a CAS control panel (virtual keyboard) as an integrated component of the existing navigation system and 2) introduction of a commercial voice-recognition system. The implementation of these strategies into the existing CAS setup at the Department of Orthopaedic Surgery at the Inselspital (University of Bern) and clinical experience gained are reported.

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

As the pedicle offers a strong point of attachment to the spine, several instrumentation systems using screws that go through the pedicle into the vertebral body have been developed to provide internal stability. All pedicle screw systems share the risk of damage to adjacent neural structures as a result of improper screw placement. A computer-assisted system allowing precise preoperative planning and real-time intraoperative interactive image localization has been implemented for spine instrumentation to optimize transpedicular spine fixation. A validation study was performed in an in vitro set-up drilling 20 pedicle pilot holes in lumbar vertebrae. An analysis in 77 histological cuts showed an ideal location in 70 with no case of injury to the pedicle cortex. We discuss initial clinical experience on cases of posterior lumbar stabilization. Interactive computer-assisted spine surgery provides an accurate and safe approach for transpedicular screw fixation and may provide a useful tool for optimization of spine surgery.

Clinical evaluation of a system for precision enhancement in spine surgery.

Most techniques in segmental spinal fixation surgery rely on the identification of predefined targets with the help of anatomical landmarks and on intraoperative use of image intensifiers. However, because there is no direct link between the image information, the accessible spinal anatomy, and the action of surgical instruments several potential problems and possible complications are still involved. A novel system for spinal surgery has been designed allowing for the real-time, intraoperative localization of surgical instruments in medical images. In practice this was achieved by combining image-guided stereotaxis with advanced optoelectronic position sensing techniques. Modules were developed for image data processing, surgical planning and simulation, and various intraoperative procedures. A detailed validation of the system was performed indicating an overall accuracy to be better than the slice distance of the spinal image used. In an in-vitro setting 20 pilot holes for pedicle screws were prepared in human cadaveric lumbar spines. An analysis in 77 histological cuts showed an ideal location in 70 and only minor cortex engagement in seven sections. In vivo the system has been successfully applied in three posterior low lumbar stabilizations with overall 15 transpedicular screws. RELEVANCE--:This article focuses on the clinical evaluation of a computer-assisted surgery system and its application to the operating theatre for transpedicular fixation of the spine. The given approach effectively keeps the surgeon 'in the loop' and requires only minor modifications of the established surgical techniques and associated instruments. The results of this study indicate that advanced computer-assisted techniques may significantly improve the accuracy and safety of surgical interventions of the spine. The proposed technique may in future be adapted to other applications in orthopaedic surgery.

Computer-aided fixation of spinal implants.

Medical imaging provides an important basis for modern diagnosis as well as for preoperative planning of surgical procedures. However, information gained cannot be transferred directly into the operating room. Furthermore, the safety and accuracy of the surgical intervention would be improved by interactive navigation of surgical instruments. These features are provided by the system for computer-aided fixation of spinal implants described in this paper.

A biomechanical comparison of cervical laminaplasty and cervical laminectomy with progressive facetectomy.

The effects of multilevel cervical laminaplasty and laminectomy with increasing amounts of facetectomy on stability of the cervical spine were tested with physiologic loading in nine cadaveric specimens. Cervical spines, levels C2-C7, were tested with physiologic loading in a constraint-free test system, the motion of each body being tracked in a three-dimensional coordinate system. Cervical laminectomy with 25% or more facetectomy resulted in a highly significant increase in cervical motion compared to the intact specimens for the dominant motions of flexion/extension (P < 0.003), axial torsion (P < 0.001), and lateral bending (P < 0.001). Cervical laminaplasty was not significantly different from the intact control, except for a marginal increase in axial torsion. Coupled motion did not change with laminaplasty or laminectomy with progressive facetectomy. As little as 25% facetectomy adversely affects stability after multilevel cervical laminectomy. Cervical laminaplasty avoids this problem, while still affording multilevel decompression. Therefore in patients undergoing cervical laminectomy accompanied by more than 25% bilateral facetectomy, concurrent arthrodesis should be performed.

[Comparative biomechanical studies following automated percutaneous nucleotomy and diskotomy]. / Vergleichende biomechanische Untersuchungen nach automatisierter perkutaner Nukleotomie und Diskotomie.

APLD is considered as the last step of conservative treatment for lumbar disc herniation assuming that a negative biomechanical effect of APLD is not expected. Biomechanical effects of APLD were investigated in comparison to open discectomy. APLD decreased disc height less than open discectomy and increased instability and flexibility less. The position of the center of rotation was not significantly altered.

Viscoelasticity of the alar and transverse ligaments.

The occipito-atlanto-axial joint is the most complex one of the human spine. Traumatic or inflammatory lesions in this region may lead to instability and neurological symptoms of clinical importance. This study reports the results of anatomical and biomechanical examination of 13 human upper cervical spine specimens and focuses on the viscoelastic behavior of the alar and transverse ligaments. Non-destructive tensile testing was performed on a uniaxial testing machine with 25 alar and 11 transverse ligaments at three different load rates of 0.1 mm/s, 1.0 mm/s, and 10.0 mm/s. The ligaments were further tested for relaxation over 300s. Each ligament exhibited an initial neutral zone in which no tensile force could be measured during cyclic testing. This neutral zone was more significant in the alar ligaments than in the transverse ligaments with respect to the measured in situ length of the ligaments (11.2 vs 18.1 mm on average). Increasing axial deformation led to increased load in all ligaments. Hysteresis, i.e., the energy loss exhibited by viscoelastic material subjected to loading and unloading cycles, increased with higher displacement rates and higher tensile forces. In neutral position the alar ligaments were lax in all specimens. During axial rotation both alars tightened. Ligamentous resistance increased as the end of the range of motion (ROM) was approchaed during rotation. The neutral zone explains the laxity of the ligaments in midposition and allows mobility of the upper cervical spine with minimum expenditure of muscular energy. The ligaments become stiffer under higher loads and therefore contribute to a limitation of the ROM in the occipitio-atlanto-axial joint.