Pelvic tracker effects on hip center accuracy using imageless navigation

Mihalko, William M.; Phillips, Matthew J.; Fishkin, Zair; Krackow, Kenneth A.

doi:10.1080/10929080600942147

Cited by 3 publications

(6 citation statements)

References 1 publication

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“…As demonstrated by Milhalko et al (2006), without tracking the pelvis movement, although errors increased of 4 mm, differences resulted in sagittal misalignment of the mechanical axis by only 0.31 in extension, with no statistically significant difference in the coronal plane alignment. However, while such errors minimally affect measurements in orthopaedic surgery, the impact on biomechanical modelling of the hip joint is clearly evident.…”

Section: Article In Pressmentioning

confidence: 84%

See 1 more Smart Citation

In-vitro experimental assessment of a new robust algorithm for hip joint centre estimation

Momi¹,

Lopomo²,

Cerveri³

et al. 2009

Journal of Biomechanics

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Section: Article In Pressmentioning

confidence: 84%

“…In their work, Milhalko et al (2006) demonstrated that the insertion of a pelvic tracker did not significantly improve the TKR prosthesis alignment. Even if a pelvic tracker may increase surgical morbidity, they suggested using it for checking the motion of the pelvis and repeating the pivoting when large standard deviations were detected.…”

Section: Introductionmentioning

confidence: 97%

In-vitro experimental assessment of a new robust algorithm for hip joint centre estimation

Momi¹,

Lopomo²,

Cerveri³

et al. 2009

Journal of Biomechanics

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“…Nevertheless, all the methodologies presented do not extensively analyse the estimation perturbation introduced by the pelvis displacement during the passive pivoting manoeuvre. Even if some authors suggested that the pelvic tracker did not significantly improve the HJC localisation accuracy (Mihalko et al 2006), it is well recognised that the measurement of the pelvis movement is necessary in order to raise warnings on the HJC automatic computation, which could result to be inaccurate if the pelvis has undergone a translation movement during the acquisition. An estimate of such displacement can be obtained computing the instantaneous positions of the HJC, as presented by De Momi et al (2009).…”

Section: Discussionmentioning

confidence: 99%

“…It has to be noted that in the study of Lopomo et al (2010) the pelvis was rigidly fixed to the table using pins. Also, Mihalko et al (2006) showed that, in general, the absence of the pelvic tracker did not influence the total knee replacement (TKR) prosthesis alignment; nevertheless the errors in the HJC estimation are not negligible. In case the pelvis is passively moved during the pivoting manoeuvre, the HJC location estimation is highly affected.…”

Section: Introductionmentioning

confidence: 99%

Hip joint centre localisation with an unscented Kalman filter

Momi

Beretta

Ferrigno

2013

Computer Methods in Biomechanics and Biomedical Engineering

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The accurate estimation of the hip joint centre (HJC) in gait analysis and in computer assisted orthopaedic procedures is a basic requirement. Functional methods, based on rigid body localisation, assessing the kinematics of the femur during circumduction movements (pivoting) have been used for estimating the HJC. Localising the femoral segment only, as it is usually done in total knee replacement procedure, can give rise to estimation errors, since the pelvis, during the passive pivoting manoeuvre, might undergo spatial displacements. This paper presents the design and test of an unscented Kalman filter that allows the estimation of the HJC by observing the pose of the femur and the 3D coordinates of a single marker attached to the pelvis. This new approach was validated using a hip joint mechanical simulator, mimicking both hard and soft tissues. The algorithm performances were compared with the literature standards and proved to have better performances in case of pelvis translation greater than 8 mm, thus satisfying the clinical requirements of the application.

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“…A coordinate transformation method, the so-called pivoting method, 19 was shown to be more accurate than the least-squares sphere fitting method 20 (HJC localization errors equal to 2.7 ± 2.9 and 25.2 ± 18.9 mm (mean ± standard deviation (SD))). Mihalko et al 18 reported HJC localization errors up to 33 mm using the sphere fitting method, when the passive manoeuvres were executed on whole-body cadavers partially constrained to the working table with a belt positioned around the lower torso. The description of the employed algorithm and of the amplitude of the actual pelvic motion recorded during the pivoting manoeuvre was not provided.…”

Section: Introductionmentioning

confidence: 99%

Hip joint centre position estimation using a dual unscented Kalman filter for computer-assisted orthopaedic surgery

Beretta

Momi

Camomilla

et al. 2014

Proc Inst Mech Eng H

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In computer-assisted knee surgery, the accuracy of the localization of the femur centre of rotation relative to the hipbone (hip joint centre) is affected by the unavoidable and untracked pelvic movements because only the femoral pose is acquired during passive pivoting manoeuvres. We present a dual unscented Kalman filter algorithm that allows the estimation of the hip joint centre also using as input the position of a pelvic reference point that can be acquired with a skin marker placed on the hip, without increasing the invasiveness of the surgical procedure. A comparative assessment of the algorithm was carried out using data provided by in vitro experiments mimicking in vivo surgical conditions. Soft tissue artefacts were simulated and superimposed onto the position of a pelvic landmark. Femoral pivoting made of a sequence of star-like quasi-planar movements followed by a circumduction was performed. The dual unscented Kalman filter method proved to be less sensitive to pelvic displacements, which were shown to be larger during the manoeuvres in which the femur was more adducted. Comparable accuracy between all the analysed methods resulted for hip joint centre displacements smaller than 1 mm (error: 2.2 6 [0.2; 0.3] mm, median 6 [inter-quartile range 25%; inter-quartile range 75%]) and between 1 and 6 mm (error: 4.8 6 [0.5; 0.8] mm) during planar movements. When the hip joint centre displacement exceeded 6 mm, the dual unscented Kalman filter proved to be more accurate than the other methods by 30% during multi-planar movements (error: 5.2 6 [1.2; 1] mm).

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Pelvic tracker effects on hip center accuracy using imageless navigation

Abstract: Algorithms that reduce the noise generated by pelvic movement should be devised to eliminate the need for a pelvic tracker.

Cited by 3 publications

References 1 publication

In-vitro experimental assessment of a new robust algorithm for hip joint centre estimation

In-vitro experimental assessment of a new robust algorithm for hip joint centre estimation

Hip joint centre localisation with an unscented Kalman filter

Hip joint centre position estimation using a dual unscented Kalman filter for computer-assisted orthopaedic surgery

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