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，     

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。     

计算机辅助骨科技术的现状与未来

近年来，计算机技术在外科领域应用日益广泛，计算机辅助骨科技术(CAOS)在神经外科导航的基础上发展迅猛，成功地应用到越来越多的骨科疾病中。它是在计算机技术支持下进行的骨科手术，包括了医学图像数据的获取、术前计划和模拟、配准、术中导航和机器人系统。它的应用提高了手术的准确性，减小了手术创伤，更好的进行手术计划和模拟，并且减少了射线的暴露量。章评述了CAOS的发展现状，提出了未来研究的设想。     

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.     

基于超声图像配准的计算机辅助骨科手术

计算机辅助骨科手术( CAOS)已在临床骨科多个领域得到应用,但面临着手术时间延长、骨块漂移及增加X线暴露等缺点.近年随着对微创、实时及非X线暴露等要求的提高,超声在CAOS中的应用日益受到重视.CAOS中借助超声回波测距原理形成的超声骨点云轮廓与术前三维CT图像进行实时配准,并通过同步动力化技术实现对手术过程的监控....     

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。     

机器人辅助技术在创伤骨科的发展与临床应用北大核心CSCD

目的 对骨科机器人辅助技术的基本原理及优势、在创伤骨科领域尤其是骨折复位手术机器人的研究进展、临床应用及局限性进行综述和评价。方法 广泛查阅国内外关于骨科机器人辅助技术原理、骨折复位手术机器人相关研究文献,分析技术优势及临床疗效和不足,探讨该领域未来发展趋势。结果 骨科机器人可辅助医生进行直观的术前规划、术中精准控制及微创操作,极大地拓展了医生对骨科创伤的评估和治疗能力;创伤骨科手术机器人已经实现从基础研究到临床应用的突破,初步结果显示该技术可显著提高手术精度、降低手术创伤,但仍存在有效性评价不足、技术实现手段单一、临床适应证窄等问题。结论 骨科机器人辅助技术在创伤骨科有广阔应用前景,但目前尚处于起步阶段,需要加强医工合作研究、医生交流平台建设、规范化培训及数据共享,才能不断推进骨科机器人辅助技术在创伤骨科的发展,更好地发挥其临床应用价值。     

发展中的国际计算机辅助骨科手术协会

国际计算机辅助骨科手术协会(CAOS-International)是目前致力于计算机辅助骨科手术(CAOS)临床应用和相关生物医学工程技术研究的国际性学术组织。协会通过每年举办学术年会,召集世界各地的骨科医生、工程师及医疗器械厂商探讨CAOS的应用现状和未来发展趋势。其深远目标是通过会议讨论,交换研究和临床信息,并通过计算机辅助系统帮助术前计划、术中操作和术后评估。协会的宗旨是促进骨科医生与技术人员间的合作,使CAOS系统成为临床日常应用的有利工具和有用技术。协会成立迄今已有5年历史,通过国际间的学术交流和各相关学科的技术融合,极大地推动了CAOS技术的发展和普及。中国的CAOS研究还处于起步阶段,积极参加CAOS-International的学术活动,了解有关信息,将有助于及时跟踪国际学术动态,推动相关研究。     

首届亚洲创伤骨科高峰论坛通知

为推动我国创伤骨科的发展，增进相互了解，扩大与亚洲地区各国的学术交流与技术合作，《中华创伤骨科杂志》社、亚洲创伤骨科学会（AAI~）与中华骨科交流学会（台湾）于2005年11月11—14日在广州联合举办“首届亚洲创伤骨科高峰论坛”。会议将就创伤骨科领域国际最新技术与进展、主要以Video Symposium（多媒体动画）形式进行广泛的学术交流。《中华创伤骨科杂志》即将进入中华医学会系列杂志，届时将同时举行《中华创伤骨科杂志》第二届编委改选及编委会会议。论坛主题为创伤骨科新技术：①创伤骨科基础研究；②计算机辅助骨科技术（CAOS）；③微创骨科技术（MIOS）；④骨盆髋臼损伤现代治疗；⑤关节外科新技术；⑥运动创伤新技术；⑦手外科新技术。     

计算机辅助骨科导航技术面临的主要问题

计算机辅助骨科导航技术近年来发展迅速,现已几乎涉及骨科所有领域,并取得初步成果。但由于此项技术的研发及应用尚处于起步阶段,目前面临以下主要问题:①无统一的技术标准,包括设备技术标准、手术操作规范和评价标准;②临床应用中尚存不少问题,如操作繁琐、手术时间延长以及易出现操作错误和错误信息反馈;③设备昂贵、技术尚待完善。了解其面临的问题有助于我们对这项技术的深入理解,并减少经济及临床应用上的风险,避免出现一拥而上的局面。     

Free and pedicle flaps in lower extremity trauma

Improvements in microsurgical techniques and perioperative management have led to more attempts at limb salvage surgery after severe extremity trauma. Although some microsurgery-trained orthopedic surgeons will perform extremity soft tissue reconstruction, many rely on plastic surgeons or hand surgeons. However, the orthopedic trauma surgeon often remains the principle decision maker in the follow-up of these patients. Therefore, orthopedic surgeons should have a clear understanding of the planning and execution of flap reconstruction of the traumatized extremities. Collaboration with the microsurgery team will also improve planning of orthopedic procedures and facilitate a better understanding of the expected outcomes after tissue transfer. This becomes especially important when considering, debridement, early amputation versus extensive soft tissue reconstruction and when discussing these alternatives with patients and family as well as postoperative course. The goals of this article are to provide orthopedic trauma surgeons with an understanding of the selection, planning, and execution of tissue transfers for posttraumatic extremity reconstruction and to review their successes and outcomes in the literature. Communication between teams involved in reconstruction of the traumatized extremity and an understanding of limitations are paramount to successful outcomes after reconstruction.Level of Evidence: Not ratable.     

整形外科进展

目的综述近几年整形外科临床治疗所取得的主要进展.方法广泛阅读国内外相关文献及专著,并进行综合,指出整形外科取得的主要成就.结果在整形外科中,近几年美容外科有了飞速发展,并有将整形、美容学科合二为一的趋势.在手外科不仅重视结构、功能的修复,也要重视形态美、应发展"美容手外科".在面瘫及面部毁损治疗方面,发展了"面部肌肉神经化测量系统"及同种异体颜面部移植技术.穿支血管皮瓣的解剖研究促进了临床应用的发展.结论整形外科已取得很多重要发展,今后在修复重建外科领域应更加重视结构、功能、形态的完美结合.     

A system for ultrasound-guided computer-assisted orthopaedic surgery.

Current computer-assisted orthopedic surgery (CAOS) systems typically use preoperative computed tomography (CT) and intraoperative fluoroscopy as their imaging modalities. Because these imaging tools use X-rays, both patients and surgeons are exposed to ionizing radiation that may cause long-term health damage. To register the patient with the preoperative surgical plan, these techniques require tracking of the targeted anatomy by invasively mounting a tracking device on the patient, which results in extra pain and may prolong recovery time. The mounting procedure also leads to a major difficulty of using these approaches to track small bones or mobile fractures. Furthermore, it is practically impossible to mount a heavy tracking device on a small bone, which thus restricts the use of CAOS techniques. This article presents a novel CAOS method that employs 2D ultrasound (US) as the imaging modality. Medical US is non-ionizing and real-time, and our proposed method does not require any invasive mounting procedures. Experiments have shown that the proposed registration technique has sub-millimetric accuracy in localizing the best match between the intraoperative and preoperative images, demonstrating great potential for orthopedic applications. This method has some significant advantages over previously reported US-guided CAOS techniques: it requires no segmentation and employs only a few US images to accurately and robustly localize the patient. Preliminary laboratory results on both a radius-bone phantom and human subjects are presented.     

Wound Closure Following Intervention for Closed Orthopedic Trauma

The method of skin closure and post-operative wound management has always been important in orthopedic surgery and plays an even larger role now that surgical site infection (SSI) is a national healthcare metric for both surgeons and hospitals. Wound related issues remain some of the most feared complications following orthopedic trauma procedures and are associated with significant morbidity. In order to minimize the risk of surgical site complications, surgeons must be familiar with the physiology of wound healing as well as the patient and surgical factors affecting healing potential. The goal of all skin closure techniques is to promote rapid healing with acceptable cosmesis, all while minimizing risk of infection and dehiscence. Knowledge of the types of closure material, techniques of wound closure, surgical dressings, negative pressure wound therapy, and other local modalities is important to optimize wound healing. There is no consensus in the literature as to which closure method is superior but the available data can be used to make informed choices. Although often left to less experienced members of the surgical team, the process of wound closure and dressing the wound should not be an afterthought, and instead must be part of the surgical plan. Wounds that are in direct communication with bony fractures are particularly at risk due to local tissue trauma, resultant swelling, hematoma formation, and injured vasculature.     

Is Preoperative Traction for Proximal Femoral Fractures Beneficial to the Patient or a Comfort to the Doctor?

Abstract Background and Purpose: Despite the high incidence of hip fractures, there is no agreement on the use of preoperative traction. To assess current application of traction and the reasons for its use, an inventory study was performed. Material and Methods: Questionnaires were sent to 248 surgical and orthopedic departments, informing about the frequency preoperative traction was used and the reasons for doing so. It was also asked, if there were problems admitting these patients and scheduling them for operation. Results were compared with the current literature. Results: Overall response was 89.9%. Orthopedic surgeons applied traction significantly more frequently compared to trauma surgeons (83.0% vs. 67.9%; p < 0.02). Preoperative traction was standard practice in 20.2% of the trauma departments. The main reason for the use of traction was the assumed reduction in pain. In 22.4% of the hospitals there were (capacity) problems admitting patients with hip fractures, and if admitted, the waiting time for operation was > 24 h in 27.4%. Conclusion: 20% of the Dutch trauma and orthopedic surgeons still practice preoperative traction, whereas literature review shows that preoperative traction is related to numerous complications, without any clinically proven beneficial effects. From this perspective preoperative traction for proximal femoral fractures, although applied on large scale in the Netherlands, should no longer be routinely applied.     

A paradigm shift in surgical planning and simulation using 3Dgraphy: Experience of first 50 surgeries done using 3D-printed biomodels

IntroductionPreoperative planning is an important aspect of any orthopedic surgery. Traditionally, surgeons mentally rehearse the operation and anticipate problems based on data available from “radiography” like MRI and CT. 3D printed bio-models and tools, or “3Dgraphy” can simplify this mental exercise and provide a realistic and user-friendly portrayal of this radiographic data.MethodsFive surgeons participated in this multicenter study. 3D printed biomodels were obtained for 50 surgical cases that included periarticular trauma (24), pelvic trauma (11), complex primary (7), and revision arthroplasty (8). CT scan data was used to generate computer models which were then 3D printed in real size. These models were used to understand pathoanatomy and conduct simulated surgery as a part of preoperative planning. The models were sterilized and were used for intraoperative referencing. Following each case, the operating surgeon was asked to fill out a structured questionnaire to report on the perceived benefits of these tools.ResultsAll surgeons reported that the biomodels provided additional information to conventional imaging that enhanced their knowledge of the complex pathoanatomy. It was useful in preoperative planning, rehearsing the operation, surgical simulation, intraoperative referencing, surgical navigation, preoperative implant selection, and inventory management. This probably reduced surgical time and improved accuracy of the surgery. All surgeons reported that they would not only use it themselves but also recommend it to other surgeons.Conclusion3Dgraphy was found to be a valuable tool in orthopedic surgeries that involve complex pathoanatomy like pelvic trauma, revision arthroplasty, and periarticular fracture. As the technology evolves and improves, they are likely to become a standard component of many orthopedic procedures.     

MILITARY SURGERY IN RWANDA

Background : In April of 1994, a vicious civil war erupted in Rwanda, with more than 500 000 people massacred by extremist militias. The second United Nations Assistance Mission in Rwanda (UNAMIR II) deployed in August 1994 to monitor the ceasefire. with an Australian Defence Force Contingent of Health Service Support consisting of staff for the UNAMIR Headquarters, and the Australian Medical Support Force (AS MSF). Methods : A retrospective audit was conducted of all operative surgery performed during the year-long deployment. in the AS MSF operating theatres. Results : Twenty surgeons rotated through in 6-week intervals. A total of 750 operations were performed on 547 patients, of which 636 (84.8%) involved civilians. A total of 558 (74.4%) cases were the result of trauma both accidental (38.4%) and war related (36%). The mean age of patients was 21.7 years. The age distribution was skewed, with 289 (38.5%) cases being performed on children. General surgeons performed a wide range of surgery, covering the majority of surgical specialties. These included cardiothoracic, neurosurgical, vascular and paediatric cases. Orthopaedic surgeons dealt with amputations, debridements and skin grafting in addition to bony injuries and infections. Children formed a substantial number of those treated, and required surgery for war-related injuries significantly more often than adults. Conclusions : Surgeons involved in future peacekeeping missions should be aware of the broad variety of clinical problems encountered, and undertake refresher training in the sub-specialties. Children are at great risk of violence in war, and if a civilization can be judged by the protection it affords its helpless, the Rwandan genocide and ensuing civil war represents a horrific example of the opposite extreme.     

New orthopaedic implant management tool for computer-assisted planning, navigation, and simulation: from implant CAD files to a standardized XML-based implant database.

Computer-Assisted Orthopaedic Surgery (CAOS) has made much progress over the last 10 years. Navigation systems have been recognized as important tools that help surgeons, and various such systems have been developed. A disadvantage of these systems is that they use non-standard formalisms and techniques. As a result, there are no standard concepts for implant and tool management or data formats to store information for use in 3D planning and navigation. We addressed these limitations and developed a practical and generic solution that offers benefits for surgeons, implant manufacturers, and CAS application developers. We developed a virtual implant database containing geometrical as well as calibration information for orthopedic implants and instruments, with a focus on trauma. This database has been successfully tested for various applications in the client/server mode.The implant information is not static, however, because manufacturers periodically revise their implants, resulting in the deletion of some implants and the introduction of new ones. Tracking these continuous changes and keeping CAS systems up to date is a tedious task if done manually. This leads to additional costs for system development, and some errors are inevitably generated due to the huge amount of information that has to be processed.To ease management with respect to implant life cycle, we developed a tool to assist end-users (surgeons, hospitals, CAS system providers, and implant manufacturers) in managing their implants. Our system can be used for pre-operative planning and intra-operative navigation, and also for any surgical simulation involving orthopedic implants. Currently, this tool allows addition of new implants, modification of existing ones, deletion of obsolete implants, export of a given implant, and also creation of backups.Our implant management system has been successfully tested in the laboratory with very promising results. It makes it possible to fill the current gap that exists between the CAS system and implant manufacturers, hospitals, and surgeons.