被动式非影像依从导航系统在全膝关节置换术中的应用进展

全膝关节置换术(total knee arthroplasty,TKA)目前已成为晚期膝关节骨性关节炎的最终临床治疗方式,术后的肢体及假体力线直接关系到全膝关节置换术后的临床效果。近年来,计算机辅助导航手术(computer-assisted surgery,CAS)被应用于全膝关节置换术中,获得了令人满意的治疗效果。已有研究报道,采用计算机辅助导航系统能够改善膝关节置换术后软组织平衡,提高假体组建安装的精确度,恢复术后正常下肢力线,并且有助于减少术中出血及术后脂肪栓塞。虽然目前计算机辅助导航系统还不是主流手术技术,但随着计算机辅助手术技术的不断改进和发展,未来计算机辅助导航在全膝关节置换手术中将发挥更重要的作用,改善全膝关节置换术后的临床疗效。     

骨科手术导航系统研究现状

实验和临床研究证明骨科手术导航系统能明显提高手术精度,减少手术创伤。将为骨科手术带来革命性的变化。该文综述了计算机辅助外科手术导航系统的基本原理、分类及研究概况,分析了各类导航系统的功能特点及影响导航精度的相关因素,指出骨科手术导航系统的临床价值、应用范围及评价方法,并对其应用前景作出了展望。     

计算机导航系统辅助脊柱内镜手术治疗腰椎管狭窄症的解剖学实验研究

目的探讨计算机导航系统辅助脊柱内镜手术穿刺定位的可行性,为临床微创手术治疗腰椎管狭窄症时遇到的定位问题提供新的解决方法。方法选择10只健康成年日本大耳白兔,采用计算机导航系统辅助依次定位L_(1、2)、L_(2、3)、L_(3、4)、L_(4、5)及L_5S_1椎间孔,准确置入穿刺针并置入脊柱内镜,观察脊柱内镜视野,兔子清醒后观察四肢主动屈伸情况,以及解剖后观察穿刺位置的安全性。结果 10只兔子共进行了50次导航操作,术中脊柱内镜观察到穿刺针置入椎间孔的准确率为100%,术后兔子四肢主动活动满意率为100%,解剖后观察腰椎及周围结构正常率为100%。结论计算机导航系统辅助脊柱内镜手术穿刺定位增加了手术安全性,降低了并发症发生率。骨科计算机导航系统将成为临床上采用脊柱内镜手术治疗腰椎管狭窄症时的新辅助定位技术。     

计算机辅助手术导航系统在脊柱外科手术中的应用进展

近年来脊柱外科手术得到了很大发展,但脊柱解剖结构复杂,毗邻重要血管神经,手术难度和风险性很高.同时脊柱手术趋向微创化、精准化,迫切需要更安全有效的技术措施辅助手术.自上世纪90年代以来,计算机辅助骨科手术(computer-assisted orthopedic surgery,CAOS)应运而生,旨在通过手术过程中应用机器人设备或者定位导航系统,从而提高术野的可视度和手术精度.自Nolte等[1]应用计算机辅助微创导航手术系统实施了第1例腰椎椎弓根螺钉内固定术后,计算机辅助手术导航系统逐渐发展,并在脊柱外科手术中广泛应用[2～7].计算机辅助手术导航系统又称图像引导手术导航系统(image-guided surgical navigation system)、图像引导外科手术(image-guided surgery)等.本文将近年来计算机辅助手术导航系统在脊柱外科手术中的应用进展综述如下.     

选择外科导航系统的参考要素

外科导航系统可提供外科手术过程中的实时指导，是一种极具应用前景的互动式工具。它可以在术中为外科医生提供实时信息，从而有利于手术的进程，改善手术效果，减少并发症。该系统的运用可降低手术创伤。该系统中计算机的运用有助于术前计划的制定和术后资料的收集。计算机辅助外科手术导航系统的应用已有十多年历史。随着近年来技术的发展，该技术得以进一步改良，并精确化了手术程序。虽然外科导航系统是一门相对较新的技术．但由于其显的优点，将会在临床上越来越广泛地应用。我们调研了五个外科导航系统的生产商，旨在介绍目前临床上可选择的外科导航系统和注意事项。     

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。     

O型臂导航系统在脊柱外科手术中的应用进展

<正>近些年,随着脊柱外科手术技术及内置物的不断更新进步,脊柱外科得到了很大的发展,但脊柱解剖结构复杂,毗邻重要血管神经,手术的复杂性、高风险性也越来越明显。计算机辅助导航系统应运而生,其主要作用是提高术野的可视度,使手术操作更加微创、安全、精准~([1])。O型臂导航系统可短时间内获得较高质量的三维CT图像,直接输入到导航计算机中自动匹配、注册,使术者能够近乎"直视下"精准的完成手术操作,被公认为是目前脊柱外科领     

计算机导航辅助椎弓根螺钉固定

目的将计算机导航技术应用于临床椎弓根螺钉固定并做仞步分析。方法2004年2～12月在计算机导航系统辅助下，对30例患(年龄18～60岁，平均45．3岁)共行134枚椎弓根螺钉固定。结果手术顺利，未发生血管和神经损伤并发症，螺钉大小选择合适，固定位置及方向准确．术中透视次数及手术室人员所受X线辐射量明显减少。结论计算机导航辅助椎弓根螺钉固定是一项安全的手术，且手术精度高。     

计算机辅助手术系统与关节镜下前交叉韧带重建

目的 针对近年多种导航系统用于前交叉韧带的重建手术，探讨计算机辅助手术系统如何改善前交叉韧带重建。方法广泛查阅近年国内外相关文献，分析目前较常用的计算机辅助系统（OthoPilot系统、BoneMorphing系统及透视导航系统）在术中的应用。结果计算机辅助系统通过三维的可视化定位装置，提高了隧道定位的精确度，按照解剖和等距参数，避免移植腱与股骨髁间窝切迹的撞击，实现了患者个体化前交叉韧带的准确定位植入。结论计算机辅助手术系统能更好地评估手术的精确度和可行性，满足了术者手术优化的要求，改善了手术的临床结果。     

计算机辅助导航系统下取出头枕部子弹1例报道

<正>计算机辅助导航系统(computer assisted naviga tion system,CANS)已成功应用到外科手术的诸多领域,为临床上多种手术的开展提供了可能与保障;与传统手术相比,CANS具有更精确、更安全、更微创的优势;将计算机辅助导航系统应用到枪击伤子弹取出手术中,国内外的报道并不多见,但这势必会为战伤子弹取出提供新的思路与方法。2016年5月,本     

计算机辅助导航系统引导下的椎弓根螺钉置入术

目的探讨计算机辅助导航系统在椎弓根螺钉置入手术方面的应用价值。方法2002年8月~2006年6月,采用计算机辅助导航系统引导下进行椎弓根螺钉置入手术66例,与传统手术66例进行比较。结果导航组手术时间[(142.3±5.3)minvs(173.4±7.1)min,t=-28.301,P=0.000]和术中出血量[(798.3±10.9)mlvs(912.2±14.3)ml,t=-51.463,P=0.000]显著少于传统手术组。导航组椎弓根螺钉X线片和CT扫描准确性显著高于传统组(χ2=29.424,P=0.000;χ2=36.829,P=0.000)。结论计算机辅助导航系统引导下进行椎弓根螺钉置入手术较传统手术方法具有更加精确、安全、微创的特点。     

Computer-assisted neurosurgical navigational system for transsphenoidal surgery--technical note.

Transsphenoidal surgery carries the risk of carotid artery injury even for very experienced neurosurgeons. The computer-assisted neurosurgical (CANS) navigational system was used to obtain more precise guidance, based on the axial and coronal images during the transsphenoidal approach for nine pituitary adenomas. The CANS navigator consists of a three-dimensional digitizer, a computer, and a graphic unit, which utilizes electromagnetic coupling technology to detect the spatial position of a suction tube attached to a magnetic sensor. Preoperatively, the magnetic resonance images are transferred and stored in the computer and the tip of the suction tube is shown on a real-time basis superimposed on the preoperative images. The CANS navigation system correctly displayed the surgical orientation and provided localization in all nine patients. No intraoperative complications were associated with the use of this system. However, outflow of cerebrospinal fluid during tumor removal may affect the accuracy, so the position of the probe when the tumor is removed must be accurately determined. The CANS navigator enables precise localization of the suction tube during the transsphenoidal approach and allows safer and less-invasive surgery.     

Reliability of the care and needs scale for assessing support needs after traumatic brain injury

OBJECTIVE: To investigate the reliability of the Care and Needs Scale (CANS) for measuring the level and types of support needs of people with traumatic brain injury (TBI). METHOD: Interrater reliability was examined in a cohort of 30 community clients with TBI by comparing CANS ratings completed by 2 occupational therapists (OTs) and a case manager. CANS ratings on the same clients were also completed 1 week later to examine test-retest reliability. Reliability of proxy ratings was investigated in a cohort of 40 community clients with TBI by comparing CANS ratings completed by a clinical researcher, multidisciplinary team, relative, and client. RESULTS: Level of support need as measured by the CANS showed excellent interrater reliability both within and across disciplines: ICC = 0.95 between 2 OTs and ICC = 0.93 and 0.96 between OTs and case manager. Test-retest reliability of the CANS over a 1-week period was also excellent (ICC = 0.98). Although the agreement between the clinical researcher and multidisciplinary team was excellent (ICC = 0.92), ICCs with relative and client ratings were variable, ranging from 0.37 to 0.72. CONCLUSIONS: The excellent inter-rater and test-retest reliability findings from this present study, together with the evidence for validity reported previously, indicate that the CANS is a reliable and valid instrument for application in clinical practice.     

快速成型导航模板辅助颈椎螺钉置入的研究进展

颈椎螺钉内固定技术凭借其高融合率、手术节段即刻固定及良好的矫形能力在临床上得到广泛应用。但由于解剖结构变异、椎弓根较细等原因,采用传统方法置钉难度较大,螺钉穿孔率较高,可引起神经血管损伤等严重并发症。近年来快速成型导航模板被报道应用于辅助颈椎螺钉置入,以提高螺钉置入的准确性。本文通过回顾及总结近20年来已发表关于导航模板辅助颈椎螺钉置入相关文献,系统介绍了导航模板的制作与使用方法、设计理念发展历程以及在颈椎手术中的应用现状。目前相关临床及尸体研究证实在颈椎手术中,使用快速成型导航模板辅助颈椎螺钉置入可降低螺钉穿孔率、术中电离辐射伤害及手术时间,值得在临床工作中推广应用。但是不同设计类型的导航模板的具体临床疗效没有很高的总结。因此,更多比较不同设计类型导航模板准确性与安全性的尸体及临床试验急需进行,以帮助临床医生选择合适的导航模板进行手术。     

Computer-aided navigation in neurosurgery

The article comprises three main parts: a historical review on navigation, the mathematical basics for calculation and the clinical applications of navigation devices. Main historical steps are described from the first idea till the realisation of the frame-based and frameless navigation devices including robots. In particular the idea of robots can be traced back to the Iliad of Homer, the first testimony of European literature over 2500 years ago. In the second part the mathematical calculation of the mapping between the navigation and the image space is demonstrated, including different registration modalities and error estimations. The error of the navigation has to be divided into the technical error of the device calculating its own position in space, the registration error due to inaccuracies in the calculation of the transformation matrix between the navigation and the image space, and the application error caused additionally by anatomical shift of the brain structures during operation. In the third part the main clinical fields of application in modern neurosurgery are demonstrated, such as localisation of small intracranial lesions, skull-base surgery, intracerebral biopsies, intracranial endoscopy, functional neurosurgery and spinal navigation. At the end of the article some possible objections to navigation-aided surgery are discussed. Commentaries on this paper are available at and And to thee, steerman, I give this command, and do thou lay it to your heart, since thou wieldest the steering oar of the hollow ship. From this smoke and surf keep the ship well away and hug the cliff, lest, ere thou know it, the ship swerve off to the other side and thou cast us into disaster. Homer, Odyssey     

Image-guided neurosurgery system integrating AR-based navigation and open-MRI monitoring.

As endoscopic surgery has become a popular form of minimally invasive surgery, it increasingly requires useful imaging tools to help the surgeons perform safe and secure operations. Our navigation system provides surgeons with visual information by overlaying 3D wire frame models of tumor onto live images, as well as by displaying relative the positions of surgical tools and the target tumor. Such 3D wire frame models are generated from pre-operative CT/MR images with the help of a 3D surgical simulation software. Another important function of our system is real-time volume rendering of intra-operative MR images for the target tumor. This function allows surgeons to carefully observe the vicinity of the tumor regions to be removed, by rendering the sectional views with respect to the surgical tool position, so that surgical performance can be easily monitored during the operation. We tested this navigation system in more than 10 clinical operations and verified the effectiveness of the navigation and surgical performance.     

术中导航三维影像系统辅助置入骶骨钉微创治疗骶髂关节脱位

目的探讨手术导航一术中三维影像系统监测下置人骶骨钉微创治疗骶髂关节脱位的疗效。方法在手术导航一术中三维影像系统监测下应用骶骨钉内固定技术治疗15例骶髂关节脱位患者。其中骶髂关节半脱位6例，骶髂关节完全脱位9例；伴有骨盆前环损伤7例，伴有骶丛损伤2例。结果15例均获得6-16个月随访，复位均满意，无骶髂部疼痛14例，轻度疼痛1例；2例骶丛损伤者术后恢复良好。结论手术导航一术中三维影像系统监测下骶骨钉治疗骶髂关节脱位，是一种安全、有效的治疗方法，手术创伤小，时间短，康复快。     

Comparison of the effects of propofol and midazolam on the cardiovascular autonomic nervous system during combined spinal and epidural anesthesia

STUDY OBJECTIVE: To investigate the effect of propofol and midazolam on cardiac autonomic nervous system (CANS) activity during combined spinal-epidural anesthesia. DESIGN: Prospective, clinical study. SETTING: Operating room of a university hospital. PATIENTS: Forty ASA physical status I and II patients scheduled for knee surgery. INTERVENTION: Patients were randomized to receive sedation with either propofol or midazolam. MEASUREMENTS: Heart rate (HR), HR variability (HRV), systolic arterial pressure (SAP), and SAP variability (SAPV) were used for the analysis. These values were measured at the preanesthetic period, after intrathecal injection for spinal anesthesia, after sedation with propofol or midazolam, and just before the end of surgery with sedation. Cross-spectral analyses of the HR and SAP data were assessed to quantify the frequency-related coherence spectra and phase spectra. MAIN RESULTS: Spinal anesthesia itself had no effect on power spectral changes in both groups. After sedation, as for HRV, high-frequency (HF) power (HF, 0.15-0.40 Hz) did not change, whereas low-frequency (LF) power (LF, 0.04-0.15 Hz) and LF/HF, an indicator of CANS balance, significantly decreased with propofol. Further, coherence in cross-spectra presented depression in the LF band area after sedation with propofol. Before the end of surgery with sedation, LF and LF/HF in both HRV and SAPV were correlated with age in those with propofol; however, scarce relation was observed in those who received midazolam. CONCLUSIONS: Propofol was more potent than midazolam in causing CANS activity to be sympatholytic during combined spinal and epidural anesthesia and which was correlated with age only with propofol.     

Robotic and Navigation Systems in Orthopaedic Surgery: How Much Do Our Patients Understand?

Background

Technology in orthopaedic surgery has become more widespread in the past 20 years, with emerging evidence of its benefits in arthroplasty. Although patients are aware of benefits of conventional joint replacement, little is known on patients'' knowledge of the prevalence, benefits or drawbacks of surgery involving navigation or robotic systems.

Methods

In an outpatient arthroplasty clinic, 100 consecutive patients were approached and given questionnaires to assess their knowledge of navigation and robotics in orthopaedic surgery. Participation in the survey was voluntary.

Results

Ninety-eight patients volunteered to participate in the survey, mean age 56.2 years (range, 19 to 88 years; 52 female, 46 male). Forty percent of patients thought more than 30% of National Health Service (NHS) orthopaedic operations involved navigation or robotics; 80% believed this was the same level or less than the private sector. One-third believed most of an operation could be performed independently by a robotic/navigation system. Amongst perceived benefits of navigation/robotic surgery was more accurate surgery (47%), quicker surgery (50%), and making the surgeon''s job easier (52%). Sixty-nine percent believed navigation/robotics was more expensive and 20% believed it held no benefit against conventional surgery, with only 9% believing it led to longer surgery. Almost 50% would not mind at least some of their operation being performed with use of robotics/navigation.

Conclusions

Although few patients were familiar with this new technology, there appeared to be a strong consensus it was quicker and more accurate than conventional surgery. Many patients appear to believe navigation and robotics in orthopaedic surgery is largely the preserve of the private sector. This study demonstrates public knowledge of such new technologies is limited and a need to inform patients of the relative merits and drawbacks of such surgery prior to their more widespread implementation.