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Purpose: Intraoperative assessment of surgical margins is important for reducing the rate of revisions in breast conserving surgery for palpable malignant tumors. The hypothesis was that metabolomics methods, based on mass spectrometry, could find patterns of relative abundances of molecules that distinguish clusters of benign tissue and cancer in surgical resections., Methods: Excisions from 8 patients were used to acquire 112,317 mass spectrometry signals by desorption electrospray ionization. A process of nonnegative matrix factorization and graph decomposition produced clusters that were approximated as affine spaces. Each signal's distance to the affine space of a cluster was used to visualize the clustering., Results: The distance maps were superior to binary clustering in identifying cancer regions. They were particularly effective at finding cancer regions that were discontinuously distributed within benign tissue., Conclusions: Desorption electrospray ionization mass spectrometry, which has been shown to be useful intraoperatively, can acquire signals that distinguish malignant from benign breast tissue in surgically excised tumors. The method may be suitable for real-time surgical decisions based on cancer margins.

Purpose: Minimally invasive beating-heart surgery is currently performed using endoscopes and without navigation. Registration of intraoperative ultrasound to a preoperative cardiac CT scan is a valuable step toward image-guided navigation., Methods: The registration was achieved by first extracting a representative point set from each ultrasound image in the sequence using a deformable registration. A template shape representing the cardiac chambers was deformed through a hierarchy of affine transformations to match each ultrasound image using a generalized expectation maximization algorithm. These extracted point sets were matched to the CT by exhaustively searching over a large number of precomputed slices of 3D geometry. The result is a similarity transformation mapping the intraoperative ultrasound to preoperative CT., Results: Complete data sets were acquired for four patients. Transesophageal echocardiography ultrasound sequences were deformably registered to a model of oriented points with a mean error of 2.3 mm. Ultrasound and CT scans were registered to a mean of 3 mm, which is comparable to the error of 2.8 mm expected by merging ultrasound registration with uncertainty of cardiac CT., Conclusion: The proposed algorithm registered 3D CT with dynamic 2D intraoperative imaging. The algorithm aligned the images in both space and time, needing neither dynamic CT imaging nor intraoperative electrocardiograms. The accuracy was sufficient for navigation in thoracoscopically guided beating-heart surgery.

Purpose: An optoelectronic surgical navigation system was used to detect small but measurable translational motion of human hip cadavers in high-range passive motions. Kinematic data were also examined to demonstrate the role of soft tissues in constraining hip translation., Methods: Twelve cadaver hips were scanned using CT, instrumented for navigation, and passively taken through motion assessment. Center of the femoral head was tracked in the acetabular coordinates. Maximum non-impinging translation of the femoral head for each specimen hip was reported. This was repeated for 5 tissue states: whole, exposed to the capsule, partially or fully incised capsule, resection of the ligamentum teres and labrectomy. Femoral motions were compared to the reported value for ideal ball and socket model., Results: Whole and exposed hips underwent maximal translations of [Formula: see text] and [Formula: see text] mm, respectively. These translational motions were statistically significantly different from reported value for a purely spherical joint, [Formula: see text]. Further tissue removal almost always significantly increased maximum non-impingement translational motion with [Formula: see text]., Conclusion: We found subtle but definite translations in every cadaver hip. There was no consistent pattern of translation. It is possible to use the surgical navigation systems for the assessment of human hip kinematics intra-operatively and improve the treatment of total hip arthroplasty patients by the knowledge of the fact that their hips translate. Better procedure selection and implantation optimization may arise from improved understanding of the motion of this critically important human joint.

Purpose: An electromagnetic (EM) surgical tracking system was developed for orthopedic navigation. The reportedly poor accuracy of point-based EM navigation was improved by using anatomical impressions, which were EM-tracked personalized templates. Lines, rather than points, were consistently used for calibration and error evaluation., Methods: Technical accuracy was tested using models derived from CT scans of ten cadaver shoulders. Tracked impressions were first designed, calibrated, and tested using lines as fiducial objects. Next, tracked impressions were tested against EM point-based navigation and optical point-based navigation, in environments that were either relatively empty or that included surgical instruments. Finally, a tracked impression was tested on a cadaver forearm in a simulated fracture-repair task., Results: Calibration of anatomical impressions to EM tracking was highly accurate, with mean fiducial localization errors in positions of 0.3 mm and in angles of [Formula: see text]. Technical accuracy on physical shoulder models was also highly accurate; in an EM field with surgical instruments, the mean of target registration errors in positions was 2.2 mm and in angles was [Formula: see text]. Preclinical accuracy in a cadaver forearm in positions was 0.4 mm and in angles was [Formula: see text]. The technical accuracy was significantly better than point-based navigation, whether by EM tracking or by optical tracking. The preclinical accuracy was comparable to that achieved by point-based optical navigation., Conclusions: EM-tracked impressions-a hybrid of personalized templates and EM navigation-are a promising technology for orthopedic applications. The two technical contributions are the novel hybrid navigation and the consistent use of lines as fiducial objects, replacing traditional point-based computations. The accuracy improvement was attributed to the combination of physical surfaces and line directions in the processes of calibration and registration. The technical studies and preclinical trial suggest that EM-tracked impressions are an accurate, ergonomic innovation in image-guided orthopedic surgery.

Purpose: An electromagnetic (EM) surgical tracking system was used for a functionally calibrated kinematic analysis of wrist motion. Circumduction motions were tested for differences in subject gender and for differences in the sense of the circumduction as clockwise or counter-clockwise motion., Methods: Twenty subjects were instrumented for EM tracking. Flexion-extension motion was used to identify the functional axis. Subjects performed unconstrained wrist circumduction in a clockwise and counter-clockwise sense. Data were decomposed into orthogonal flexion-extension motions and radial-ulnar deviation motions. PCA was used to concisely represent motions. Nonparametric Wilcoxon tests were used to distinguish the groups., Results: Flexion-extension motions were projected onto a direction axis with a root-mean-square error of [Formula: see text]. Using the first three principal components, there was no statistically significant difference in gender (all [Formula: see text]). For motion sense, radial-ulnar deviation distinguished the sense of circumduction in the first principal component ([Formula: see text]) and in the third principal component ([Formula: see text]); flexion-extension distinguished the sense in the second principal component ([Formula: see text])., Conclusion: The clockwise sense of circumduction could be distinguished by a multifactorial combination of components; there were no gender differences in this small population. These data constitute a baseline for normal wrist circumduction. The multifactorial PCA findings suggest that a higher-dimensional method, such as manifold analysis, may be a more concise way of representing circumduction in human joints.

Purpose: Structured light scanning is an emerging technology that shows potential in the field of medical imaging and image-guided surgery. The purpose of this study was to investigate the feasibility of applying a hand-held structured light scanner in the operating theatre as an intraoperative image modality and registration tool., Methods: We performed an in vitro study with three fresh frozen knee specimens and a clinical pilot study with three patients (one total knee arthroplasty and two hip replacements). Before the procedure, a CT scan of the affected joint was obtained and isosurface models of the anatomies were created. A conventional surgical exposure was performed, and a hand-held structured light scanner (Artec Group, Palo Alto, USA) was used to scan the exposed anatomy. Using the texture information of the scanned model, bony anatomy was selected and registered to the CT models. Registration RMS errors were documented, and distance maps between the scanned model and the CT model were created., Results: For the in vitro trial, the average RMS error was 1.00 mm for the femur and 1.17 mm for the tibia registration. We found comparable results during clinical trials, with an average RMS error of 1.3 mm., Conclusions: The results of this preliminary study indicate that structured light scanning could be applied accurately and safely in a surgical environment. This could result in a variety of applications for these scanners in image-guided interventions as intraoperative imaging and registration tools.

Purpose: Image-guided interventions that use preoperative 3D computed tomography (CT) models are limited by the preoperative segmentation time 3D image and collection of intraoperative registration data. Intraoperative CT imaging can be ergonomically efficient in a direct navigation system if the imaging device is accurately calibrated. A mobile-gantry CT scanner offers improved patient safety but presents technical challenges beyond those of a conventional scanner. The goal was to calibrate an optoelectronic navigation system to mobile-gantry CT with millimeter-level accuracy., Methods: A custom calibration device was designed and manufactured. The calibrator contained optoelectronic markers for navigation reference and radio-opaque markers for CT reference. Calibrations were performed with a ceiling-mounted optoelectronic camera and with a portable camera, and then verified for accuracy., Results: The component fiducial registration errors were extremely small, being 0.36 mm, with standard deviation of 0.16 mm, for the ceiling-mounted camera, and 0.05 mm, with standard deviation of 0.01 mm, for the portable camera. The net target registration error, measured as RMS deviation, was 1.58 mm for the ceiling-mounted camera and 0.73 mm for the portable camera., Conclusions: High-accuracy calibration of the mobile-gantry CT scanner was possible from a single preoperative CT image. A ceiling-mounted optoelectronic camera, which is ergonomically preferable, marginally met the accuracy criteria. The portable camera, which is in widespread use for conventional navigated surgery, had deep sub-millimeter error. This study demonstrates that high accuracy is achievable and offers a system developer options to trade off accuracy and user convenience in direct surgical navigation.

Introduction: Hip resurfacing is a surgical option for osteoarthritis young and active patients. Early failures has been reported due to improper implant placement. Computer-assisted surgery is a promising avenue for more successful procedures., Purpose: This paper presents a novel automatic surgical planning for computer-assisted hip resurfacing procedures. The plan defined the femoral head axis that was used to place the implant. The automatic planning was based on a Lie group statistical shape model., Methods: A statistical shape model was constructed using 50 femurs from osteoarthritis patients who underwent computer-assisted hip resurfacing. The model was constructed using product Lie groups representation of shapes and nonlinear analysis on the manifold of shapes. A surgical plan was drawn for the derived base shape. The base shape was transformed to 14 femurs with known manual plans. The transformed base plan was used as the computed plan for each femur. Both actual and computed plans were compared., Results: The method showed a success by computing plans that differ from the actual plans within the surgical admissible ranges. The minimum crossing distance between the two plans had a mean of 0.75 mm with a standard deviation of 0.54 mm. The angular difference between the two plans had the mean of 5.94° with a standard deviation of 2.145.94°., Conclusion: Product Lie groups shape models were proved to be successful in automatic planning for hip resurfacing computer-assisted surgeries. The method can be extended to other orthopedic and general surgeries.

Purpose: An accurate fit of a patient-specific instrument guide during an intervention is one of the critical factors affecting accuracy of the surgical procedure. In this study, we investigated how well osteophytes, which are abnormal bone growths that form along joints, are depicted in clinical preoperative CT scans and estimated the influence of such depiction errors on the intraoperative accuracy of the guide., Methods: In 34 hip resurfacing patients, 227 osteophyte surface points on the anterior aspect of the femoral neck were collected intraoperatively, using an optoelectronic navigation system. These points were registered to a preoperative CT scan of the patient, and distances between collected points and segmented virtual bone surface, as well as Hounsfield units for these points, were determined. We simulated the registration error of a patient-specific guide, using a modified registration algorithm, to test placement on the anterior aspect of the femoral neck without removing any osteophytes. This error was then applied to the surgical plan of the femoral central-pin position and orientation for evaluation., Results: The average distance between the collected points and the segmented surface was 2.6 mm. We estimated the average error for the entrance point of the central-pin to be 0.7 mm in the distal direction and 3.2 mm in the anterior direction. The average orientation error was 2.8° in anteversion., Conclusions: The depiction of osteophytes in clinical preoperative CT scans for proximal femurs can be unreliable and can possibly result in significant intraoperative instrument alignment errors during image-guided surgeries.

Purpose: Electromagnetic (EM) tracking of instruments within a clinical setting is notorious for fluctuating measurement performance. Position location measurement uncertainty of an EM system was characterized in various environments, including control, clinical, cone beam computed tomography (CBCT), and CT scanner environments. Static and dynamic effects of CBCT and CT scanning on EM tracking were evaluated., Methods: Two guidance devices were designed to solely translate or rotate the sensor in a non-interfering fit to decouple pose-dependent tracking uncertainties. These devices were mounted on a base to allow consistent and repeatable tests when changing environments. Using this method, position and orientation measurement accuracies, precision, and 95 % confidence intervals were assessed., Results: The tracking performance varied significantly as a function of the environment-especially within the CBCT and CT scanners-and sensor pose. In fact, at a fixed sensor position in the clinical environment, the measurement error varied from 0.2 to 2.2 mm depending on sensor orientations. Improved accuracies were observed along the vertical axis of the field generator. Calibration of the measurements improved tracking performance in the CT environment by 50-85 %., Conclusion: EM tracking can provide effective assistance to surgeons or interventional radiologists during procedures performed in a clinical or CBCT environment. Applications in the CT scanner demand precalibration to provide acceptable performance.

Purpose: This article presents the results of a multiuser, randomized laboratory trial comparing the accuracy and precision of image-based navigation against individualized guides for distal radius osteotomy (DRO)., Methods: Six surgeons each performed four DROs using image-based navigation and four DROs using individualized guides in a laboratory setting with plastic phantom replicas of radii from patients who had received DRO as treatment for radial deformity. Time required and correction errors of ulnar variance, radial inclination, and volar tilt were measured., Results: There were no statistically significant differences in the average correction errors. There was a statistically significant difference in the standard deviation of ulnar variance error (2.0 mm for navigation vs. 0.6 mm for guides). There was a statistically significant difference in the standard deviation of radial inclination error ([Formula: see text] for navigation vs. [Formula: see text] for guides). There were statistically significant differences in the times required (705 s for navigation vs. 214 s for guides) and their standard deviations (144 s for navigation vs. 98 s for guides)., Conclusions: Compared to navigated DRO, individualized guides were easier to use, faster, and produced more precise correction of ulnar variance and radial inclination. The combination of true three-dimensional planning, ease of use, and accurate and precise corrective guidance makes the individualized guide technique a promising approach for performing corrective osteotomy of the distal radius.

Purpose: Conventional navigated surgery relies on placement of a reference marker on the anatomy of interest. However, placement of such a marker is not readily feasible in small anatomic regions such as the scaphoid bone of the wrist. This study aimed to develop an alternative mechanism for patient tracking that could be used to perform navigated percutaneous scaphoid fixation., Methods: A prototype wrist stabilization device was developed to immobilize the scaphoid relative to a reference marker attached to the device. A position measurement system and 3D fluoroscopy were used to study the accuracy and limitations of wrist stabilization during simulated clinical usage with a cadaver specimen. Reference markers mounted on the device were used to measure intra-device motion. Radiometallic beads implanted in the scaphoid were used to measure patient-device motion. Navigated planning and guidance of scaphoid fixation were performed in five cadaver and eight "ideally immobilized" plastic specimens. Postoperative 3D fluoroscopy was used to assess the accuracy of navigated drilling., Results: The average intra-device motion was 1.9 mm during load application, which was elastically recovered upon release of the load. Scaphoid motion relative to the reference marker was predominately rotational with an average displacement of 1.25 mm and 2.0°. There was no significant difference in the accuracy of navigated drilling between the cadaver specimens and the ideally immobilized group., Conclusions: The prototype wrist stabilization device meets the criteria for effective wrist stabilization. This study provides insight concerning proper use of the device to minimize scaphoid displacement and design recommendations to improve immobilization.

Purpose: Asymmetric stress imposed on the shoulder can lead to anterior shoulder instability in young athletes who perform repetitive overhead motions. A common treatment, surgical anterior capsule tightening, assumes that the instability is caused by abnormal anterior laxity. This study investigated the possibility that one element of overall imbalance, posterior capsular tightness, could be an underlying reason for shoulder instability. Surgical navigation technology, which is more accurate than whole-body motion-capture systems, was used to study anterior translational motions., Method: The study was used four cadaver shoulders, with the scapula and rotator cuff muscles intact. Opto-electronic surgical navigation localization devices were mounted on the scapula and humerus to accurately capture positions and orientations. The shoulders were passively moved through 7 motions, 5 of simple angulation and 2 combinations of clinical interest. Each motion was repeated in 4 different soft-tissue states: rotator cuff intact, capsule intact, and surgically induced capsular tightnesses of 5 and 10mm., Results: The shoulders had significantly greater anterior translation when the posterior capsule was artificially tightened (p < 0.05); this was particularly in movements that combined abduction with internal or external rotation, which are typical overhead sports motions. Overall translation was indifferent to whether the shoulders were intact or dissected down to the capsule, as was translation during flexion was indifferent to dissection state (p > 0.95)., Conclusion: Surgical navigation technology can easily be used to analyze cadaveric shoulder motion, with opportunities for adaptation to anesthetized patients. Results suggest that the inverse of artificial tightening, such as surgical release of the posterior capsule, may be an effective minimally invasive treatment of chronic shoulder dislocation subsequent to sports motions.

Purpose: Percutaneous scaphoid fixation (PSF) is growing in popularity as a treatment option for non-displaced fractures. Success of this procedure demands high-precision screw placement, which can be difficult to achieve with standard 2D imaging. This study aimed to develop and test a system for computer-assisted navigation using volume slicing of 3D cone-beam computed tomography (CBCT)., Methods: The navigated technique involved a distinctive workflow in which a 3D CBCT imager was calibrated preoperatively, circumventing the need for intraoperative patient-based registration. Intraoperatively, a 3D CBCT image was acquired for both preoperative planning and direct navigation using volume-rendered slices. An in vitro study was conducted to compare the navigated approach to two conventional fluoroscopic methods for volar PSF. The surgical goal was to insert a guide wire to maximize both length and central placement., Results: There was no significant difference in the mean central placement of guide wire, although the variance in central placement was significantly lower using VS navigation (P < 0.01). The lengths of the drill paths were significantly longer for the VS-navigated group compared with one 2D group (P < 0.1). Each navigated trial required only one drilling attempt and resulted in less radiation exposure than conventional C-arm (P < 0.01)., Conclusions: Volume-sliced navigation achieved a more repeatable and reliable central pin placement, with fewer drilling attempts than conventional 2D techniques. Volume-sliced navigation had a higher number of drill paths within the optimal zone maximizing both length of the path and depth from the surface.

Purpose: Periacetabular osteotomies are a family of surgical procedures used to treat hip dysplasia. In a periacetabular osteotomy, the operating surgeon aims to increase acetabular coverage of the femoral head. The surgical correction has mechanical goals of increasing the stability of the joint and to improving the pressure distribution across the acetabulum. Although it is known that bone will remodel under changing load at the microstructural level, it is unclear whether there is any gross remodeling of the acetabulum or the femoral head in response to the change in loading following a periacetabular osteotomy. This observational study aims to quantify the shape of operative and contralateral hip joint surfaces pre and postoperatively to determine whether there are gross morphological changes in the shape of any of the bony articular surfaces of the joint., Methods: Preoperative and postoperative computed tomography (CT) scans were segmented as triangulated meshes. The bony articular surfaces of these meshes were then isolated. The vertices of these surfaces were fit to spheres and to general ellipsoids and, in the case of the acetabulum, examined in anatomical coordinate frames to look for changes between pre and postoperative segmentations., Results: Spherical fit results were consistent preoperatively and postoperatively, with small changes in the radii of the spheres of best fit for both operative and nonoperative hips. Ellipsoid fitting showed variations between preoperative and postoperative scans in both eccentricity and orientation., Conclusions: Because there is no clear evidence of gross articular surface remodeling, periacetabular osteotomy for an adult should be planned with the expectation that the patient's existing articular structure will be preserved.

The standard workflow in many image-guided procedures, preoperative imaging followed by intraoperative registration, can be a challenging process and is not readily adaptable to certain anatomical regions such as the wrist. In this study we present an alternative, consisting of a preoperative registration calibration and intraoperative navigation using 3D cone-beam CT. A custom calibration tool was developed to preoperatively register an optical tracking system to the imaging space of a digital angiographic C-arm. This preoperative registration was then applied to perform direct navigation using intraoperatively acquired images for the purposes of an in-vitro wrist fixation procedure. A validation study was performed to assess the stability of the registration and found that the mean registration error was approximately 0.3 mm. When compared to two conventional techniques, our navigated wrist repair achieved equal or better screw placement, with fewer drilling attempts and no additional radiation exposure to the patient. These studies suggest that preoperative registration coupled with direct navigation using procedure-specific graphical rendering, is potentially a highly accurate and effective means of performing image-guided interventions.

We propose a computer-assisted technique for correcting bone deformities using the Ilizarov method. Our technique is an improvement over prior art in that it does not require a tracking system, navigation hardware and software, or intraoperative registration. Instead, we rely on a postoperative CT scan to obtain all of the information necessary to plan the correction and compute a correction schedule for the patient. Our laboratory experiments using plastic phantoms produced deformity corrections accurate to within 3.0 degrees of rotation and 1 mm of lengthening.

We study the effect of anisotropic noise on target registration error (TRE) by using a tracked and calibrated stylus tip as the fiducial registration application. We present a simple, efficient unscented Kalman filter algorithm that is suitable for fiducial registration even with a small number of fiducials. We also derive an equation that predicts TRE under anisotropic noise. The predicted TRE values are shown to closely match the simulated TRE values achieved using our UKF-based algorithm.

3D ultrasound (US) is an emerging new imaging technology that appeals to more and more applications in intraoperative guidance of computer-assisted surgery. In a freehand US imaging system, US probe calibration is typically required to construct a 3D image of the patient's anatomy from a set of 2D US images. Most of the current calibration techniques concern primarily with the precision and accuracy. However, for computer-assisted surgeries that may require a calibration task inside the operating room (OR), many other important aspects have to be considered besides accuracy. In this paper, we propose a novel system for automated calibration that is optimized for the OR usage with real-time feedback and control of the calibration accuracy. We have also designed a novel N-wire phantom, with greatly reduced complexity to facilitate mass production without compromising the accuracy and robustness.

Scarless surgery is a new and very promising technique that can mark a new era in surgical procedures. We have created and validated a navigation system for endoscopic and transgastric access interventions in in vivo pilot studies. The system provides augmented visual feedback and additional contextual information by establishing a correspondence between the real time endoscopic ultrasound image and a preoperative CT volume using rigid registration. The system enhances the operator's ability to interpret the ultrasound image reducing the mental burden used in probe placement. Our analysis shows that rigid registration is accurate enough to help physicians in endoscopic abdominal surgery where, by using preoperative data for context and real-time imaging for targeting, distortions that limit the use of only preoperative data can be overcome.

We present a novel method to visualize registration uncertainty and a simple study to motivate the use of uncertainty visualization in computer-assisted surgery. Our visualization method resulted in a statistically significant reduction in the number of attempts required to localize a target, and a statistically significant reduction in the number of targets that our subjects failed to localize. Most notably, our work addresses the existence of uncertainty in guidance and offers a first step towards helping surgeons make informed decisions in the presence of imperfect data.

A motion-based Inverse Kinematics Knee (IKK) model was developed for Total Knee Replacement (TKR) joints. By tracking a sequence of passive knee motion, the IKK model estimated ligament properties such as insertion locations. The formulation of the IKK model embedded a Forward Kinematics Knee (FKK) model in a numerical optimization algorithm known as the Unscented Kalman Filter. Simulation results performed on a semi-constrained TKR design suggested that ligament insertions could be accurately estimated in the medial-lateral (ML) and the proximal-distal (PD) directions, but less reliably in the anterior-posterior (AP) direction for the tibial component. However, the forward kinematics produced by both the true and estimated ligament properties were nearly identical, suggesting that the IKK model recovered a kinematically equivalent set of ligament properties. These results imply that it may not be necessary to use a patient-specific CT or MRI scan to locate ligaments, which considerably widens potential applications of kinematic-based total knee replacement.

We propose and test analytic equations for approximating expected fiducial and surface target registration error (TRE). The equations are derived from a spatial stiffness model of registration. The fiducial TRE equation is equivalent to one presented by. We believe that the surface TRE equation is novel, and we provide evidence from computer simulations to support the accuracy of the approximation.

This paper presents a novel method for defining an osteotomy that can be used to represent all types of osteotomy procedures. In essence, we model an osteotomy as a lower-pair mechanical joint to derive the kinematic geometry of the osteotomy. This method was implemented using a commercially available animation software suite in order to simulate a variety of osteotomy procedures. Two osteotomy procedures are presented for a femoral malunion in order to demonstrate the advantages of our kinematic model in developing optimal osteotomy plans. The benefits of this kinematic model include the ability to evaluate the effects of various kinds of osteotomy and the elimination of potentially error-prone radiographic assessment of deformities.

A 3D forward-dynamics model of a total knee replacement was developed using an explicit finite-element package. The model incorporated both a tibiofemoral and a patellofemoral joint and allowed full 6-DOF kinematics for both joints. Simulated quadriceps contraction was used to drive the model. For validation, a unique experimental apparatus was constructed to simulate an open-chain extension motion under quadriceps control. The ligamentous constraints of the MCL and LCL were simulated using tension springs. The kinematics of the tibia and patella were recorded along with the net forces and moments applied to the femur. Several ligament and inertial configurations were simulated. The RMS differences between the experimental data and model predictions across all simulations were excellent for both the kinematics (angles: 0.3 - 1.6 degrees, displacements: 0.1 - 0.8 mm) and kinetics (forces: 5 - 11 N, moments: 0.2 - 0.6 Nm). The validated model will be extended with physiologically realistic ligaments and utilized in surgical planning simulations.

The Taylor spatial frame is a fixation device used to implement the Ilizarov method of bone deformity correction to gradually distract an osteotomized bone at regular intervals, according to a prescribed schedule. We improve the accuracy of Ilizarov's method of osteogenesis by preoperatively planning the correction, intraoperatively measuring the location of the frame relative to the patient, and computing the final shape of the frame. In four of five tibial phantom experiments, we were able to achieve correction errors of less than 2 degrees of total rotation. We also demonstrate how registration uncertainty can be propagated through the planned transformation to visualize the range of possible correction outcomes. Our method is an improvement over an existing computer-assisted technique (Iyun et al.) in that the surgeon has the same flexibility as in the conventional technique when fixating the frame to the patient.

We propose an algorithm for jointly performing registration point selection and interactive, rigid, surface-based registration. The registration is computed using a particle filter that outputs a sampled representation of the distribution of the registration parameters. The distribution is propagated through a point selection algorithm derived from a stiffness model of surface-based registration, allowing the selection algorithm to incorporate knowledge of the uncertainties in the registration parameters. We show that the behavior of target registration error improves as the quality measure of the registration points increases.

Statistical atlases built by point distribution models (PDMs) using a novel hybrid 3D shape model were used for surface reconstruction. The hybrid shape model removes the need for global scaling in aligning training examples and instance generation, thereby allowing the PDM to capture a wider range of variations. The atlases can be used to reconstruct, or deformably register, the surface model of an object from just two to four 2D x-ray projections of the object. The methods was tested using proximal and distal femurs. Results of simulated projections and fluoroscopic images of cadaver knees show that the new instances can be registered with an accuracy of about 2 mm.

A passive forward kinematics knee model was used to predict knee motion of a total joint replacement. Given ajoint angle, maps of articular surfaces, and patient-specific ligament properties, this model predicted femorotibial contact locations based on the principle of ligament-strain minimization. The model was validated by physical experiments on a commonly implanted knee prosthesis, showing excellent correspondence between the model and actual physical motion. Results suggest that the knee prosthesis studied required an intact posterior cruciate ligament to induce the desirable roll-back motion, and that a single-bundle model of major knee ligaments generated kinematics similar to that of a multibundle ligament model. Implications are that a passive model may predict knee kinematics of a given patient, so it may be possible to optimize the implantation of a prosthesis intraoperatively.