This study provides objective, in vivo data about how the anteromedial and posterolateral bundles act differentially to stabilize the knee, particularly during the pivot shift. The posterolateral bundle was important in controlling not only anterior laxity toward knee extension but the rotational component of the pivot shift.

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The CRIGOS (compact robot for image-guided orthopedic surgery) project was set up for the development of a compact surgical robot system for image-guided orthopedic surgery based on user requirements. The modular system comprises a compact parallel robot and a software system for planning of the surgical interventions and for supervision of the robotic device. Because it is not sufficient to consider only technical aspects in order to improve in clinical routine the therapeutic outcome of conventional interventions, a user-centered and task-oriented design process has been developed which also takes human factors into account. The design process for the CRIGOS system was started from requirement analysis of various orthopedic interventions using information gathered from literature, questionnaires, and workshops with domain experts. This resulted in identification of conventional interventions for which the robotic system would improve the medical and procedural quality. A system design concept has been elaborated which includes definitions of components, functionalities, and interfaces. Approaches to the acquisition of calibrated X-rays will be presented in the paper together with design and evaluation of a first human-computer interface. Finally, the first labtype parallel robot based on low-cost standard components is presented together with the first evaluation results concerning positioning accuracy.

This study presents early results of clinical experience with the application of Computer Assisted Surgery (CAS) to percutaneous iliosacral screwing, with comparison to a historical series of patients treated using percutaneous fluoroscopy. Four patients were instrumented using a CAS system, with 10 screws being inserted. Thirty patients were treated by percutaneous fluoroscopic screwing, with 5 1 screws being inserted. The follow-up assessment included the following criteria; operative time, parameters of radiation exposure, neurological examination, screw placement evaluation on CT-scan, antalgic drug consumption, pain, Majeed grading, and loosening of implants. In the CAS group, the average radiation time was 0.35 min per patient and 0.14 min per screw. No trajectories outside the bone and no postoperative neurological deficits were found. In the fluoroscopic group, the average radiation time was 1.03 min per patient and 0.6 min per screw. Twelve screws had outside-bone trajectories, and iatrogenic neurological deficits were found in seven patients. The average operative time was 50 min in the CAS group and 35 min in the fluoroscopic group. The present CAS technique shows better placement of iliosacral screws, with no outside-bone trajectories and lower radiation exposure. Comp Aid Surg 6:204-211 (2001). 02001Wiley-Liss, Inc.

This study presents early results of clinical experience with the application of Computer Assisted Surgery (CAS) to percutaneous iliosacral screwing, with comparison to a historical series of patients treated using percutaneous fluoroscopy. Four patients were instrumented using a CAS system, with 10 screws being inserted. Thirty patients were treated by percutaneous fluoroscopic screwing, with 51 screws being inserted. The follow-up assessment included the following criteria; operative time, parameters of radiation exposure, neurological examination, screw placement evaluation on CT-scan, antalgic drug consumption, pain, Majeed grading, and loosening of implants. In the CAS group, the average radiation time was 0.35 min per patient and 0.14 min per screw. No trajectories outside the bone and no postoperative neurological deficits were found. In the fluoroscopic group, the average radiation time was 1.03 min per patient and 0.6 min per screw. Twelve screws had outside-bone trajectories, and iatrogenic neurological deficits were found in seven patients. The average operative time was 50 min in the CAS group and 35 min in the fluoroscopic group. The present CAS technique shows better placement of iliosacral screws, with no outside-bone trajectories and lower radiation exposure.

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Abstract. This paper describes the development and preliminary testing of an image-guided system for the placement of iliosacral screws to stabilize pelvic ring fractures percutaneously, with the aim of decreasing the incidence of surgical complications and increasing the accuracy of screw placement. Pre-operative planning of screw trajectories is performed on a 3D model of the pelvis constructed from CT scans. During surgery, a 6D optical localizer is used to track the positions and orientations of an ultrasound probe, a surgical drill and a reference frame fixed to the posterior iliac crest. Registration of the pre-operative model with curves segmented from the ultrasound scans is performed using a surface-based algorithm. The drill tip and axis are displayed relative to the desired screw trajectories in real time. The accuracy of the system has been verified in four cadaver specimens by comparing actual screw trajectories to the desired trajectories and by measuring the distance from each screw to important anatomical landmarks on post-operative CT scans. All screws were considered to be in correct position.

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