Computer Assisted Research and Development Group, Balgrist University Hospital, University of Zurich, Forchstrasse 340, 8008, Zurich, Switzerland.
Laboratory for Orthopaedic Biomechanics, ETH Zurich, Zurich, Switzerland.
Int J Comput Assist Radiol Surg. 2019 Jul;14(7):1157-1165. doi: 10.1007/s11548-019-01973-7. Epub 2019 Apr 15.
PURPOSE: In spinal fusion surgery, imprecise placement of pedicle screws can result in poor surgical outcome or may seriously harm a patient. Patient-specific instruments and optical systems have been proposed for improving precision through surgical navigation compared to freehand insertion. However, existing solutions are expensive and cannot provide in situ visualizations. Recent technological advancement enabled the production of more powerful and precise optical see-through head-mounted displays for the mass market. The purpose of this laboratory study was to evaluate whether such a device is sufficiently precise for the navigation of lumbar pedicle screw placement. METHODS: A novel navigation method, tailored to run on the Microsoft HoloLens, was developed. It comprises capturing of the intraoperatively reachable surface of vertebrae to achieve registration and tool tracking with real-time visualizations without the need of intraoperative imaging. For both surface sampling and navigation, 3D printable parts, equipped with fiducial markers, were employed. Accuracy was evaluated within a self-built setup based on two phantoms of the lumbar spine. Computed tomography (CT) scans of the phantoms were acquired to carry out preoperative planning of screw trajectories in 3D. A surgeon placed the guiding wire for the pedicle screw bilaterally on ten vertebrae guided by the navigation method. Postoperative CT scans were acquired to compare trajectory orientation (3D angle) and screw insertion points (3D distance) with respect to the planning. RESULTS: The mean errors between planned and executed screw insertion were [Formula: see text] for the screw trajectory orientation and 2.77±1.46 mm for the insertion points. The mean time required for surface digitization was 125±27 s. CONCLUSIONS: First promising results under laboratory conditions indicate that precise lumbar pedicle screw insertion can be achieved by combining HoloLens with our proposed navigation method. As a next step, cadaver experiments need to be performed to confirm the precision on real patient anatomy.
目的:在脊柱融合手术中,不准确的椎弓根螺钉定位可能导致手术效果不佳,甚至严重危害患者健康。与徒手插入相比,患者特定的器械和光学系统已被提议用于通过手术导航来提高精度。然而,现有的解决方案价格昂贵,并且无法提供现场可视化效果。最近的技术进步使得更强大、更精确的光学透视头戴式显示器能够为大众市场所使用。本实验室研究的目的是评估这种设备是否足够精确,能够用于导航腰椎椎弓根螺钉的放置。
方法:开发了一种新的导航方法,专门针对 Microsoft HoloLens 运行。它包括捕获术中可触及的椎骨表面,以实现注册和工具跟踪,并实时可视化,而无需术中成像。对于表面采样和导航,使用配备基准标记的 3D 可打印部件。在基于两个腰椎模型的自建装置中评估了准确性。对模型进行了计算机断层扫描(CT)扫描,以在 3D 中进行螺钉轨迹的术前规划。由一名外科医生在导航方法的引导下,双侧引导椎弓根螺钉在 10 个椎骨上的导丝放置。术后进行 CT 扫描,以比较轨迹方向(3D 角度)和螺钉插入点(3D 距离)与规划的关系。
结果:计划和执行螺钉插入之间的平均误差为[公式:见文本],用于螺钉轨迹方向,插入点为 2.77±1.46mm。表面数字化的平均时间为 125±27s。
结论:在实验室条件下的初步结果表明,通过将 HoloLens 与我们提出的导航方法相结合,可以实现精确的腰椎椎弓根螺钉插入。下一步需要进行尸体实验,以确认在真实患者解剖结构上的精度。
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