计算机辅助技术在骨科手术中的应用进展

随着近十年来人工智能技术的飞速发展,计算机辅助骨科手术(Computer assisted orthopedic surgery,CAOS)在临床手术中的应用已经较为成熟,但是相对于发达国家,其在国内的发展还处于初级阶段;CAOS最早应用于脊柱手术中,现已经逐步完善了在关节、创伤、运动医学及骨肿瘤等方面的应用.CAOS在骨科手术中的应用具有手术时间短、辐射量少、定位准确等优势,目前已经是骨科发展的重要方向.推动CAOS和自主研发的骨科手术机器人的发展,优化计算机导航技术将是骨科技术程序化、智能化和个体化的关键所在.本文针对CAOS的发展进程及未来的应用前景做一综述.     

计算机辅助导航骨科手术及医用机器人技术在创伤骨科的应用

本文介绍了计算机辅助导航骨科手术(CAOS)及医用机器人技术在创伤骨科应用中的主要进展、当前在临床应用中存在的主要问题和相关对策,并对其未来的发展趋势进行了预测,同时简要介绍了北京积水潭医院创伤骨科在计算机辅助导航骨科手术及医用机器人技术方面的研究进展。当前骨科手术导航定位所应用的医学图象导引系统已经由使用单一的C型臂、CT等传统影像设备向应用三维C型臂、多模态图像处理系统等新型影像设备转变,基于多模态图像的导航系统将有可能成为导航手术的主流。医用机器人已经在自动化程度和人机交互模式方面,有了长足进展,摆脱了原有工业机器人的结构模式。医学图像后处理技术及其它相关信息技术极大地丰富了导航和机器人外科,只有在不断完善光学定位技术的同时,加大对其它定位方法的研究,才能够提高定位精度;要对相关设备进行开放式结构设计,使不同导航系统的注册软件能够互相兼容,手术器械能够通用,降低设备成本。骨科医生要正确认识计算机辅助导航骨科手术及医用机器人技术,在充分了解CAOS的技术特点、基本原理、操作程序的基础上,对要实施的手术具有深刻的理解,才能开展CAOS手术。目前,迫切需要建立CAOS技术标准、临床适应证和手术操作规范,进行CAOS产品之间的技术比较和评估,便于医生选择合适的CAOS产品。伴随快速发展的信息技术,数字化手术室、智能化微创导航手术系统、医用机器人辅助的远程医疗将有可能成为未来CAOS技术的主要组成部分。     

计算机辅助手术在脊柱外科的应用现状

计算机辅助手术（computer-assisted surgery，CAS）是综合当今先进的成像设备（如CT，MRI）、计算机技术、空间定位技术等进行图像三维重建及融合。术前充分评估患者的情况，规划手术路径、方案，模拟手术，术中追踪手术器械，引导手术，确定手术范围，从而使外科手术更精确、安全、微创的综合性技术。计算机辅助手术在骨科的应用称为计算机辅助骨科手术（computer-assisted orthopaedic surgery，CAOS）。CAOS技术从20世纪90年代初在欧洲和北美问世以来发展十分迅速。笔者就其在脊柱外科的应用情况做一综述如下．     

计算机导航全膝关节置换系统

医学影像技术，计算机技术和空间示踪技术的发展与结合产生了计算机辅助骨科手术（computer assisted orthopaedic surgery,CAOS），该技术亦被称为计算机手术导航，计算机导航极大地提高了人工全膝和全髋关节置换手术的准确性和可重复性。近两年，计算机导航人工全膝关节置换技术在欧美得到了较为广泛的开展；从其初期的应用报告提示该系统可以极大地改善术中，术后下肢的力学对线，辅助术中软组织平衡调节，改善术后关节的活动范围，取得了很好的近期临床效果。     

骨盆骨折计算机辅助手术进展

计算机辅助骨科手术(CAOS)的发展使骨科手术发生了里程碑式的变化,已成功应用于骨盆截骨、简单髋臼骨折、骶髂螺钉固定等多种骨盆手术中。骨盆复杂的解剖结构,使得现有的空间配准技术对复杂的骨盆骨折存在较大局限,成为CAOS导航研究的难点所在。在传统的CT三维重建基础上进行虚拟手术规划,借助超声测距原理将术中超声图像与术前的多模态医学图像实时配准,通过同步动力化技术跟踪骨折复位情况、确认手术效果,可实现骨盆骨折手术的微创、实时、非X线暴露的三维导航目的。该文就CAOS应用于骨盆骨折的近期研究进展作一综述。     

计算机辅助骨科手术的应用和进展

计算机辅助手术(CAS)是近年来在外科手术领域发展最为迅速的一个领域。CAS在骨科手术中的具体应用被称为计算机辅助骨科手术(CAOS)。CAOS的含义是利用当今医学领域的先进成像设备如计算机断层扫描(CT)、磁共振成像(MRI)、正电子发射断层扫描(PET)、数字血管减影(DAS、超声成像(US)以及医用机器人(MR)所得到的多模图像数据，在计算机的帮助下，对医学图像信息进行处理并结合立体定位系统，对人体骨骼的解剖结构进行显示和定位，并由计算机规划手术路径，制定合理、定量的手术方案，进行术前手术模拟，在适当的图像监视和立体定位系统下，利用一定的导引系统，在骨科手术中使用计算机和医用机器人进行手术干预，为骨科医生提供强有力的工具和方法。CAOS在提高病灶定位精度，减少手术损伤，执行复杂外科操作，提高手术成功率方面有卓越的表现，配准和定位是CAOS的核心技术。CAOS已应用在脊柱外科、人工关节置换术、创伤骨科、骨肿瘤治疗中。     

计算机辅助骨科手术在创伤骨科的应用

目的讨论计算机辅助骨科手术（computer assisted orthopedic surgery，CAOS）在创伤骨科的应用及其意义。方法分析CAOS在创伤骨科应用的现状，总结其应用的价值及相关问题。结果目前CAOS在创伤骨科主要应用于脊柱、四肢骨折内固定物的植入和人工髋、膝关节置换以及膝关节交叉韧带的重建等，而在骨折复位方面的应用很少且技术不成熟，但已显示明显的优越性。在CAOS应用过程中应注意其缺点、临床医学评价、手术医生的地位、正确的微创观念等相关问题。结论CAOS在创伤骨科手术微创化进程中有重要意义和无可替代的价值，应处理好一些相关的问题，促进其更好地发展。     

计算机辅助骨科手术在创伤骨科中的应用

计算机辅助骨科手术（computer—assisted orthopaedic surgery，CAOS）是利用计算机对数字化医学影像的高速处理及控制能力，通过虚拟手术环境为骨科医生从技术上提供支援，使手术更微创、更安全、更准确的一门新技术。正因为这是一项基于术中图像，应用相应定位手段，对手术部位及术中的手术器械进行实时跟踪、显示、引导而进行手术的技术，其工作原理犹如在航空、航海中为飞机和舰船进行导航一样，所以也有很多学者把CAOS称为影像辅助导航手术（image guidance fluoroscopic navigation surgery，IGFNS）。CAOS应用的是以计算机图像处理工作站及影像跟踪设备为核心的手术系统，此系统的基本功能是将医学影像设备提供的图像进行信息化处理，并结合立体定位系统（stereotactic localization system）对真正的人体肌肉、骨骼解剖结构进行显示和定位，     

关节置换定位系统

近年来,一种新的系统应用于术前计划的制订和术中定位导航,即计算机辅助下骨科整形系统（CAOS）,或称之为图像引导系统（image guided system,IGS）。其定义为利用三维数据成像或储存多切面二维图像来制定手术计划和在术中即时导航。多应用在骨科创伤、全关节置换、脊柱手术中。IGS有两种设计,一种利用CT成像,另一种利用MRI成像。     

数字骨科技术在股骨颈骨折诊疗中的应用

<正>数字骨科是一门将计算机数字技术融入骨科临床实践的交叉学科,它依赖计算机进行数字处理和图像处理以解决骨科基础和临床中的问题。在过去10年中,数字骨科技术发展迅速,目前数字骨科技术主要涵盖的领域有:(1)骨科机器人技术。(2)计算机辅助骨科导航手术(computer assisted orthopedic surgery,CAOS)。     

Geschichte und Entwicklung der computerassistierten Chirurgie in der Orthopädie

Computer assisted orthopaedic surgery (CAOS) was developed to improve the accuracy of surgical procedures. It has improved dramatically over the last years, being transformed from an experimental, laboratory procedure into a routine procedure theoretically available to every orthopaedic surgeon.The first field of application of computer assistance was neurosurgery. After the application of computer guided spinal surgery, the navigation of total hip and knee joints became available. Currently, several applications for computer assisted surgery are available. At the beginning of navigation, a preoperative CT-scan or several fluoroscopic images were necessary. The imageless systems allow the surgeon to digitize patient anatomy at the beginning of surgery without any preoperative imaging. The future of CAOS remains unknown, but there is no doubt that its importance will grow in the next 10 years, and that this technology will probably modify the conventional practice of orthopaedic surgery.     

Computer assisted orthopaedic and trauma surgery. State of the art and future perspectives

In recent years computer technologies have become more and more integrated in surgical procedures. The potential advantages of computer assisted surgery (CAS) are: increase of accuracy of surgical interventions, less invasive operations, better planning and simulation and reduction of radiation exposure for both patient and surgeon. After introduction of CAS in neurosurgery, the clinical applications of this technique expanded also into trauma and orthopaedic surgery. The first application of this new technique in orthopaedic and trauma surgery was for placement of lumbar pedicle screws. After its introduction into spine surgery, CAS was applied in other fields of orthopaedic surgery like hip, knee and skeletal trauma surgery. In this article the technical background and the various clinical applications and future perspectives of computer assisted orthopaedic and trauma surgery are outlined.     

新观念及新技术影响着创伤骨科的发展

骨折内固定理念的改变、微创手术的广泛使用、计算机技术在创伤骨科领域中的使用及循证医学对临床决策的影响给创伤骨科领域带来了技术和思想的转变。本文通过对第二届全国创伤骨科学术大会论文的评述，简要介绍目前创伤骨科领域的发展趋势。     

Computer-assisted tridimensional preoperative planning in hip revision surgery

It is often difficult to obtain excellent clinical results in complex cases of hip replacement surgery. Over recent years, in order to improve the success rate of this type of surgery, prosthetic implants that are more ductile and more reliable have been developed. At the same time, important progress has been made in improving the accuracy of surgical method. A great deal of effort has been made to improve methods of preoperative planning. The world over, computerized systems that aid the surgeon in his or her clinical practice (CAOS systems) have been developed. The authors present Hip-op, a new CAOS type system, for preoperative planning. In particular, the use of Hip-op in some very complex cases of hip revision surgery is reported. Based on clinical experience, it is believed that Hip-op is a useful system, one that is easy to use, and that it is capable of improving the accuracy of surgery.     

Computer assisted versus conventional cemented total knee prostheses alignment accuracy and micromotion of the tibial component

We evaluated the influence of CT-free or CT-based computer assisted orthopaedic surgery (CAOS) on the alignment of total knee prostheses (TK) and micromotion of tibial components. This randomised study compared 19 CT-free, 17 CT-based CAOS TK, and a matched control group of 21 conventionally placed TK. Using Roentgen stereophotogrammetric analysis (RSA) the migration was measured. The alignment and component positions were measured on radiographs. No significant difference in leg and tibial component alignment was present between the three groups. A significant difference was found for micromotion in subsidence, with the conventional group having a mean of 0.16 mm, compared to the CT-free group at 0.01 mm and the CT-based group at −0.05 mm. No clinical significant difference in alignment was found between CAOS and conventionally operated TK. More subsidence of the tibial component was seen in the conventional group compared to both CAOS groups at two year follow-up.     

Primary pyomyositis of the paraspinal muscles: a case report and literature review

The objectives of this study were (1) to quantify the benefit of computer assisted orthopaedic surgery (CAOS) pedicle screw insertion in a porcine cadaver model evaluated by dissection and computed tomography (CT); (2) to compare the effect on performance of four surgeons with no experience of CAOS, and varying experience of pedicle screw insertion; (3) to see if CT with extended windows was an acceptable method to evaluate the position of the pedicle screws in the porcine cadaver model, compared to dissection. This was a prospective, randomised, controlled and blinded porcine cadaver study. Twelve 6-month-old porcine (white skinned Landrace) lumbar spines were scanned pre-operatively by spiral CT, as required for the CAOS computer data set. Computer randomisation allocated the specimens to one of four surgeons, all new to CAOS but with different levels of experience in spinal surgery. The usual anatomical landmarks for the freehand technique were known to all four surgeons. Two pedicles at each vertebral level were randomly allocated between conventional free hand insertion and an electromagnetic image guided surgery (NAVITRAK^®) and 6.5 mm cancellous AO screws inserted. Post-operatively, spiral CT was blindly evaluated by an independent radiologist and the spine fellow to assess the accuracy of pedicle screw placement, by each method. The inter- and intra-observer reliability of CT was evaluated compared to dissection. The pedicle screw placement was assessed as perfect if within the pedicle along its central axis, or acceptable (within < 2 mm from perfect), and measured in millimetres from perfect thereafter. One hundred and sixty-six of 168 pedicles in 12 porcine spines were operated on. Complete data were present for 163 pedicles (81 CAOS, 82 freehand). In the CAOS group 84% of screws were deemed acceptable or perfect, compared to 75.6% with the freehand technique. Screw misplacement was significantly reduced using CAOS (P = 0.049). Seventy-nine percent of CAOS screws were ideally placed compared with 64% with a conventional freehand technique (P = 0.05). A logistic linear regression model showed that the miss placed pedicle screw rate was significantly reduced using CAOS (P = 0.047). CAOS benefited the least experienced surgeons most (the research registrars acceptable rate increased from 70 to 90% and the spine fellow from 76 to 86%). CAOS did not have a statistically significant effect on the experienced consultant spine surgeon increasing from 70 to 79% (P = 0.39). The experienced general orthopaedic surgeon did not benefit from CAOS (P = 0.5). CT compared to dissection showed an intra-observer reliability of 99.4% and inter-observer reliability of 92.6%. The conclusions of this study were as follows: (1) an increased number of pedicle screws were ideally placed using the CAOS electromagnetic guidance system compared to the conventional freehand technique; (2) junior surgeons benefited most from CAOS; (3) we believe CAOS (Navitrak^®) with porcine lumbar spines evaluated by post operative CT, represents a useful model for training junior surgeons in pedicle screw placement; (4) experienced spine surgeons, who have never used CAOS, may find CAOS less helpful than previously reported.     

计算机辅助带锁髓内钉远端锁定瞄准系统的设计与实验研究

目的　测试计算机辅助带锁髓内钉远端锁定瞄准系统应用于下肢模型骨及尸体骨固定中的准确性及安全性。方法　采用 10根塑料模型胫骨 ,2 0根塑料模型股骨 (SynboneAG ,Malans,Switzerland) ,6具青年男性新鲜尸体的双下肢标本 ,随机平均分为两组 ,行胫骨、股骨带锁髓内钉内固定术 (Orthofix带锁髓内钉 ,每根针远端有 2孔 )。在远端锁钉时 ,实验组采用计算机辅助带锁髓内钉远端锁定瞄准系统 ;对照组采用Orthofix带锁髓内钉机械锁定瞄准器。两组以远端锁钉锁定的手术操作时间、在C型臂X线下暴露时间、锁定的成功率三项指标进行比较。结果　实验组锁钉锁定的手术时间、X线下暴露时间、锁定成功率分别为 (4 4 4± 2 99)min、(1 16± 0 38)min ,(10 0± 0 ) % ;对照组手术时间、X线下暴露时间、锁定成功率分别为 (10 4 2± 4 18)min ,(4 71± 3 86 )min ,(94 4 4±0 36 ) % ,两组手术与X线下暴露时间显著减少 (P <0 0 5 )。结论　计算机辅助带锁髓内钉远端瞄准系统设计合理、定位准确、操作简便、成功率高、缩短了手术时间 ,特别是在手术中对C型臂X线的依赖程度降低 ,在X线下暴露时间短 ,减少了医患人员的放射损伤。该系统能够通用于各种类型的髓内针 ,便于推广、普及。