Impact of optical navigation variables on the accuracy of robot-assisted surgery: a study of the TIANJI Robot system.

This study aims to explore factors related to optical navigation that interfere with the accuracy of robot-assisted surgery, specifically focusing on the TIANJI Robot system. A measurement model was created to assess the accuracy of the TIANJI Robot system in simulated screw placement. Deviation between actual and planned positions was measured using a three-coordinate machine. Various experiments were conducted to investigate the impact of different optical navigation factors on screw placement accuracy. Deviations were measured at different distances (ranging from 1.2 to 2.2 m) between the optical navigation stereo camera and the tracker, with each distance being tested 50 times. The distance between the optical camera and patient tracker was set at 1.4 m. Deviations were also measured at different angles between the camera and robot tracker, repeated over 25 times for each angle. Data were analyzed using mean and standard deviation, with line charts illustrating deviation changes based on distance and angle details. Within the range of the TIANJI Robot system's optical navigation (1.2-2.2 m), deviation increased as distance increased (χ2 = 479.107, P < 0.001). The robotic system demonstrated high and consistent accuracy (mean deviation: 0.332 mm ± 0.067 mm) when the relative angle between the optical camera and tracker was below 40°. The accuracy of the TIANJI Robot system was found to be influenced by relative distance and angle between the optical camera and tracker during screw placement procedures. Surgeons are recommended to set a relative distance of 1.4-1.5 m between the optical camera and patient tracker, with a relative angle below 40° when placing and adjusting optical tracking devices.

Parallel reconstruction of vascularized fibula autograft for treatment of complications after resection of malignant tumor from the thigh.

SUMMARY: The authors herein introduce a modification of parallel reconstruction with a vascularized fibula autograft (VFA) for cases of femur allograft complications. Conventional parallel reconstruction, in which the fibula with its vascular pedicle is placed on the medial side of the femur and allogeneic bone, may be an effective means to solve the allograft complications. However, the limited contact area between the fibula and femur/allogeneic bone can affect the bone healing ability. Furthermore, the rigid internal fixation method for the VFA may cause stress shielding and result in bone resorption. The authors propose the use of modified parallel reconstruction of the VFA with fibula expansion and titanium cable fixation for patients with allograft-host junction nonunion, allogeneic bone fracture, and femoral shaft fracture after surgical removal of a malignant tumor from the thigh. The modified parallel reconstruction has been performed on 5 patients (2 patients underwent fibular expansion). All 5 patients with 7 nonunion of allograft-host junction or fracture were followed up 33.2 months. The length of fibular graft is 10-20cm, with an average of 15.0 cm. The union rate of allograft-host junction and fracture was 100% (7/7), and the union time 15.9 months. This modified parallel reconstruction technique can achieve satisfactory union in treatment of the above complications.

Biomechanical CT-computed bone strength predicts the risk of subsequent vertebral fracture.

Following primary fractures and percutaneous kyphoplasty (PKP), patients have a high risk of incurring a subsequent vertebral fracture (SVF). Given that SVF is a consequence of mechanical deterioration of the vertebra, we sought to examine whether vertebral strength derived from QCT-based finite element analysis (i.e., BCT) can predict the risk of SVF. Sixty-six patients who underwent PKP were categorized into two groups: control or non-SVF group (age: 70 ± 7 years; n = 40) and SVF group (age: 69 ± 8 years; n = 26). BCT was performed on L4 or L3 vertebrae to noninvasively measure vertebral strength. Vertebral strength was also estimated based upon the geometry and material properties of the vertebra. Additionally, trabecular volumetric bone mineral density (vBMD) and L1 Hounsfield unit (HU) were measured. t-Test, χ2 test or Mann Whitney U test were used to compare differences in these parameters between the two groups. The predictive abilities of BCT strength and other measured parameters were evaluated using the receiver operating characteristic (ROC) analysis. Results showed no significant difference in either vBMD or L1 HU between the control and SVF groups (p > 0.05), whereas BCT-computed and estimated vertebral strength values were significantly reduced by 33 % and 24 % for the SVF group relative to the non-SVF group, respectively. ROC curve indicated that BCT strength had the largest area under the curve, compared to other parameters. These results suggest that BCT-computed vertebral strength may serve as a surrogate for assessing risk of SVF.

Mechanical testing and biomechanical CT analysis to assess vertebral flexion strength of Chinese cadavers.

Biomechanical CT (BCT), i.e., quantitative computed tomography-based finite element analysis (QCT-FEA), promises an improved technique over bone mineral density (BMD) in predicting bone strength and the risk of osteoporotic vertebral fractures. However, most of the BCT models only consider a uniform compressive loading condition and they have not been validated for Chinese subjects. This study examined the ability of BCT to predict wedge fracture-related vertebral flexion strength in a cohort of Chinese cadaveric vertebrae. Twelve human vertebrae were scanned with dual energy X-ray absorptiometry (DXA) and QCT to measure areal and volumetric BMD, respectively. To produce wedge fractures, the cadaveric vertebrae were experimentally loaded until failure under a 15° flexion. Vertebral flexion stiffness and strength were measured from the force-displacement curve. Voxel-based heterogeneous FE models of the vertebrae were created and virtually tested in uniform compression and 15° flexion to compute compressive and flexion strength (and stiffness), respectively. The predictions of vertebral flexion strength with BMD or BCT measures were evaluated with linear regression analyses. Results showed weak correlations between experimentally-measured flexion strength vs. DXA-aBMD (R2 = 0.26) or QCT-vBMD (R2 = 0.39). However, there were strong correlations between experimentally-measured flexion strength vs. BCT-computed vertebral strength under either flexion (R2 = 0.71) or compression (R2 = 0.70) loading conditions, although flexion reduced the BCT-computed vertebral strength by 9.2%. These results suggest that, regardless of whether a uniform compression or a flexion loading is simulated, BCT can predict in vitro vertebral flexion strength better than BMD.

Centralization of ulna with wrist fusion for failure of reconstructed distal radius by allograft bone or prosthesis: A case report and literature review.

RATIONALE: Centralization of the ulna is commonly used in the treatment of radius developmental deformity in children. The secondary distal radius deficiency in adults is different from the developmental deformity of the radius in children. There is no report on the ulna centralization with wrist fusion for the failure of the reconstructed distal radius by allograft bone or prosthesis for osteosarcoma in adults. PATIENT CONCERNS: 2 patients with a bone tumor on the distal radius underwent tumor resection and distal radius reconstruction by allograft bone or prosthesis and suffered distal radius collapsed fracture and radiocarpal joint dislocation accompanied with moderate pain, severe deformity, and poor grip and pinching power several months follow primary surgery. DIAGNOSES: X-ray images revealed collapsed fracture of distal radius and dislocation of the radiocarpal joint. INTERVENTIONS: The 2 patients were operated on by the same technique under brachial plexus anesthesia. The allograft bone or prosthesis and the lunate were removed. The capitate was trimmed with a groove, and the cartilage surface with the subchondral bone of the distal ulna was resected to match the groove of the capitate. A straight plate with screws was used for internal fixation. OUTCOMES: Bone healing was achieved at 3 to 4 months after the surgery. After a minimum of 1-year follow-up, pain symptom was relieved, palmar flexion deformity was corrected, and grip and pinch strength were restored. The 2 patients were both satisfied with the improvement in appearance and function. LESSONS: For adult patients who have failed resection and reconstruction of giant cell tumors, osteosarcoma, and other tumors of bone on the distal radius, ulna centralization is a simple and effective option.

Experimental testing and biomechanical CT analysis of Chinese cadaveric vertebrae with different modeling approaches.

Osteoporosis is characterized by reduced bone strength predisposing to an increased risk of fracture. Biomechanical computed tomography (BCT), predicting bone strength via CT-based finite element analysis (FEA), is now clinically available in the USA for diagnosing osteoporosis or assessing fracture risk. However, it has not been previously validated using a cohort of only Chinese subjects. Additionally, the effect of various modeling approaches on BCT outcomes remains elusive. To address these issues, we performed DXA and QCT scanning, compression testing, and BCT analyses on thirteen vertebrae derived from Chinese donors. Three BCT models were created (voxBCT and tetBCT: voxel-based and tetrahedral element-based FE models generated by a commercial software; matBCT: tetrahedral element-based FE model generated by a custom MATLAB program). BCT-computed outcomes were compared with experimental measures or between different BCT models. Results showed that, DXA-measured areal bone mineral density (aBMD) showed weak correlations with experimentally-measured vertebral stiffness (R2 = 0.28) and strength (R2 = 0.34). Compared to DXA-aBMD, BCT-computed stiffness provided improved correlations with experimentally-measured stiffness (voxBCT: R2 = 0.82; tetBCT: R2 = 0.77; matBCT: R2 = 0.76) and strength (voxBCT: R2 = 0.55; tetBCT: R2 = 0.57; matBCT: R2 = 0.53); BCT-computed mechanical parameters (stiffness, stress and strain) of the three different models were highly correlated with each other, with coefficient of determination (R2) values of 0.89-0.98. These results, based on a cohort of Chinese vertebral cadavers, suggest that BCT is superior over aBMD to consistently predict vertebral mechanical characteristics, regardless of the modeling approaches of choice.

Prevalence of Lumbar Spondylolisthesis in Middle-Aged People in Beijing Community.

OBJECTIVE: Lumbar spondylolisthesis (LS) is a common lumbar disease, and the prevalence of LS in different countries or regions was not consistent in the past. This study intends to make statistics on the prevalence of lumbar spondylolisthesis in middle-aged people in Beijing community. METHODS: This is an epidemiological study. 4548 people in Beijing community aged 50 to 64 years were recruited from the local communities by advertisements placed in housing estates and community centres for people to take part in a prospective cohort study from August from September 2013 to March 2014. There is no intervention on the subjects. RadiAnt DICOM Viewer is adopted to read the lateral CT positioning images of all the studied objects, adjust the image as bone window, observe and evaluate the slide of L1 to L5 vertebra in the lateral CT positioning image. RESULTS: Among the 4,548 subjects included in the study, 2,490 (54.75%) were male and 2,058 (45.25%) were female. A total of 785 subjects had lumbar spondylolisthesis, with a total incidence of 17.26%. There was no significant difference between prevalence of males and females in the subgroup 50-54 years old (13.55% males / 12.53% females) and 55-59 years old (14.77% males / 14.93% females). But the prevalence of LS in 60-64 years old females (28.57%) increased significantly, compared with 55-59 years old females (14.93%) and 60-64 years old males (18.76%). There were 847 levels that had slipped, L5S1 > L4/5 > L3/4 > L2/3 > L1/2. The retrolisthesis was the most, accounting for 61.51% (521/847), and the anterolisthesis was 38.49% (326/847), including anterolisthesis gradeI for 95.71% (312/326), anterolisthesis gradeII for 4.29% (14/326). Neither of anterolisthesis and retrolisthesis presented more than grade III. Among all the subjects, 318 had anterolisthesis, with a total incidence of 6.99%, and 467 subjects only had retrolisthesis. CONCLUSION: The total prevalence of LS in the middle-aged people in Beijing community was 17.26%, 15.98% in males and 18.80% in females, and women are more likely to suffer from LS after 60 years old.

[Long-term clinical efficacy of cervical artificial disc replacement for cervical spondylotic radiculopathy].

Objective: To evaluate the long-term efficacy and influencing factors of cervical artificial disc replacement (CADR) for patients with cervical spondylotic radiculopathy (CSR). Methods: The data of 29 CSR patients who underwent Bryan artificial disc replacement between December 2003 and December 2007 and followed up more than 10 years were retrospectively analysed. There were 16 males and 13 females with an average age of 54.1 years (range, 40-70 years). The disease duration was 2-144 months (mean, 19.2 months). CT and MRI were performed before operation to identify the compression segments (C 3, 4 in 2 cases, C 4, 5 in 6 cases, C 5, 6 in 18 cases, C 6, 7 in 3 cases) and the compression factors. According to the compression factor, the patients were divided into 2 groups: 14 patients with cervical disc herniation were in the group A and 15 patients combined with osteophyte were in the group B. There was no significant difference in gender, age, disease duration, and compressed level between 2 groups ( P>0.05). The radiographic and clinical evaluation indexes were recorded before operation and at last follow-up. The radiographic evaluation indexes included the global cervical and segmental range of motion (ROM), loss of ROM (ROM<3°) at last follow-up, Cobb angle and incidence of local kyphosis, paravertebral ossification (PO) grading. The clinical evaluation indexes included neck disability index (NDI) and overall efficacy (Odom's score). Results: All patients were followed up 121-153 months (mean, 130 months). The results of radiographic evaluation indexes showed that within group comparison, except that the Cobb angle of the operated level was significantly decreased ( P<0.05) in both 2 groups, there was no significant difference in global cervical ROM and segmental ROM between preoperation and last follow-up ( P>0.05). Except that the loss of ROM (ROM<3°) at last follow-up and high-grade PO at last follow-up in group B were significantly higher than those in group A ( P<0.05), there was no significant difference in other radiographic evaluation indexes between 2 groups ( P>0.05). The results of clinical evaluation indexes showed that the NDI was significantly improved in both groups ( P<0.05) at last follow-up. There was no significant difference in the NDI at preoperation and at last follow-up, the decline of NDI at last follow-up, and the overall efficacy evaluated by Odom's score between 2 groups ( P>0.05). The excellent and good rate of overall efficacy reached 100% in both groups. Conclusion: CADR has satisfied long-term efficacy in treating CSR. The maintenance of segmental mobility was better in patients with disc herniation than in patients with disc herniation and osteophyte.

[Analysis of influence of shell angle of cervical artificial disc on long-term effectiveness of cervical artificial disc replacement].

Objective: To evaluate the influence of the shell angle of cervical artificial disc on long-term effectiveness of cervical artificial disc replacement (CADR). Methods: The clinical data of 71 patients who were treated with single-level CADR with Bryan prosthesis between December 2003 and December 2007 and followed up more than 10 years, were retrospectively analyzed. There were 44 males and 27 females with an age of 26-69 years (mean, 45.9 years). According to the shell angle of the cervical artificial disc which was measured on the postoperative lateral X-ray film, the patients were divided into kyphotic group (shell angle was negative) and non-kyphotic group. The following evaluation indexes before operation and at last follow-up were compared between 2 groups. Radiographic indexes included the range of motion (ROM) of cervical spine, the ROM of operated level, Cobb angle of operated level (the negative value indicated that the segmental kyphosis occurred at operated level), paravertebral ossification (PO) grades (grades 3 and 4 were high grade PO). Clinical indexes included Japanese Orthopaedic Association (JOA) score, neck disability index (NDI), and overall effectiveness evaluation (Odom criteria). Results: There were 24 patients in kyphotic group and 47 patients in non-kyphotic group. There was no significant difference in baseline data including gender, age, and operated level between 2 groups ( P>0.05). All the patients in 2 groups were followed up 121-165 months (mean, 128 months). There was no significant difference in preoperative ROM of cervical spine and ROM of operated level between 2 groups ( P>0.05); but the preoperative Cobb angle of operated level in kyphosis group was significantly lower than that in non-kyphotic group ( t=2.636, P=0.013). There was no significant difference in ROM of cervical spine at last follow-up between 2 groups ( t=1.393, P=0.168), however, the ROM and the Cobb angle of operated level in kyphotic group were significantly lower than those in non-kyphotic group ( P<0.05). According to the Cobb angle of operated level at last follow-up, there were 9 patients (37.5%) with segmental kyphosis in kyphotic group and 7 patients (14.9%) in non-kyphotic group, showing significant difference ( χ2=4.651, P=0.031). There was a significant difference in PO grades between 2 groups ( Z=2.894, P=0.004) at last follow-up. In kyphotic group, there were 10 patients (41.7%) with low grade PO and 14 patients (58.3%) with high grade PO; and in non-kyphosis group, there were 36 patients (76.6%) with low grade PO and 11 patients (23.4%) with high grade PO. There was no significant difference in JOA scores and NDI before operation and at last follow-up, and the JOA improvement rate, NDI decline, and Odom criteria score at last follow-up between 2 groups ( P>0.05). Conclusion: The shell angle of cervical artificial disc may lead to a decrease in the postoperative segmental ROM, and an increased occurrence of segmental kyphosis and high incidence of PO.