Bart L. Kaptein

A new model-based RSA method validated using CAD models and models from reversed engineering

Roentgen stereophotogrammetric analysis (RSA) was developed to measure micromotion of an orthopaedic implant with respect to its surrounding bone. A disadvantage of conventional RSA is that it requires the implant to be marked with tantalum beads. This disadvantage can potentially be resolved with model-based RSA, whereby a 3D model of the implant is used for matching with the actual images and the assessment of position and rotation of the implant. In this study, a model-based RSA algorithm is presented and validated in phantom experiments. To investigate the influence of the accuracy of the implant models that were used for model-based RSA, we studied both computer aided design (CAD) models as well as models obtained by means of reversed engineering (RE) of the actual implant. The results demonstrate that the RE models provide more accurate results than the CAD models. If these RE models are derived from the very same implant, it is possible to achieve a maximum standard deviation of the error in the migration calculation of 0.06 mm for translations in x- and y-direction and 0.14 mm for the out of plane z-direction, respectively. For rotations about the y-axis, the standard deviation was about 0.1 degrees and for rotations about the x- and z-axis 0.05 degrees. Studies with clinical RSA-radiographs must prove that these results can also be reached in a clinical setting, making model-based RSA a possible alternative for marker-based RSA.

2D-3D shape reconstruction of the distal femur from stereo X-ray imaging using statistical shape models.

Three-dimensional patient specific bone models are required in a range of medical applications, such as pre-operative surgery planning and improved guidance during surgery, modeling and simulation, and in vivo bone motion tracking. Shape reconstruction from a small number of X-ray images is desired as it lowers both the acquisition costs and the radiation dose compared to CT. We propose a method for pose estimation and shape reconstruction of 3D bone surfaces from two (or more) calibrated X-ray images using a statistical shape model (SSM). User interaction is limited to manual initialization of the mean shape. The proposed method combines a 3D distance based objective function with automatic edge selection on a Canny edge map. Landmark-edge correspondences are weighted based on the orientation difference of the projected silhouette and the corresponding image edge. The method was evaluated by rigid pose estimation of ground truth shapes as well as 3D shape estimation using a SSM of the whole femur, from stereo cadaver X-rays, in vivo biplane fluoroscopy image-pairs, and an in vivo biplane fluoroscopic sequence. Ground truth shapes for all experiments were available in the form of CT segmentations. Rigid registration of the ground truth shape to the biplane fluoroscopy achieved sub-millimeter accuracy (0.68mm) measured as root mean squared (RMS) point-to-surface (P2S) distance. The non-rigid reconstruction from the biplane fluoroscopy using the SSM also showed promising results (1.68mm RMS P2S). A feasibility study on one fluoroscopic time series illustrates the potential of the method for motion and shape estimation from fluoroscopic sequences with minimal user interaction.

Development and experimental validation of a three-dimensional finite element model of the human scapula:

Abstract A new modelling approach, using a combination of shell and solid elements, has been adopted to develop a realistic three-dimensional finite element (FE) model of the human scapula. Shell elements were used to represent a part of the compact bone layer (i.e. the outer cortical layer) and the very thin and rather flat part of the scapula—infraspinous fossa and supraspinous fossa respectively. Solid elements were used to model the remaining part of the compact bone and the trabecular bone. The FE model results in proper element shapes without distortion. The geometry, material properties and thickness were taken from quantitative computed tomography (CT) data. A thorough experimental set-up for strain gauge measurement on a fresh bone serves as a reference to assess the accuracy of FE predictions. A fresh cadaveric scapula with 18 strain gauges fixed at various locations and orientations was loaded in a mechanical testing machine and supported at three locations by linkage mechanisms interconnected by ball joints. This new experimental set-up was developed to impose bending and deflection of the scapula in all directions unambiguously, in response to applied loads at various locations. The measured strains (experimental) were compared to numerical (FE) strains, corresponding to several load cases, to validate the proposed FE modelling approach. Linear regression analysis was used to assess the accuracy of the results. The percentage error in the regression slope varies between 9 and 23 per cent. It appears, as a whole, that the two variables (measured and calculated strains) strongly depend on each other with a confidence level of more than 95 per cent. Considering the complicated testing procedure on a fresh sample of scapula, the high correlation coefficients (0.89-0.97), the low standard errors (29-105 μeP) and percentage errors in the regression slope, as compared to other studies, strongly suggest that the strains calculated by the FE model can be used as a valid predictor of the actual measured strain. The model is therefore an alternative to a rigorous three-dimensional model based on solid elements only, which might often be too expensive in terms of computing time.

Evaluation of three pose estimation algorithms for model-based Roentgen stereophotogrammetric analysis

Abstract Model-based roentgen stereophotogrammetric analysis (RSA) uses a three-dimensional surface model of an implant in order to estimate accurately the pose of that implant from a stereo pair of roentgen images. The technique is based on minimization of the difference between the actually projected contour of an implant and the virtually projected contour of a model of that same implant. The advantage of model-based RSA over conventional marker-based RSA is that it is not necessary to attach markers to the implant. In this paper, three pose estimation algorithms for model-based RSA are evaluated. The algorithms were assessed on the basis of their sensitivities to noise in the actual contour, to the amount of drop-outs in the actual contour, to the number of points in the actual contour and to shrinkage or expansion of the actual contour. The algorithms that were studied are the iterative inverse perspective matching (IIPM) algorithm, an algorithm based on minimization of the difference (DIF) between the actual contour and the virtual contour, and an algorithm based on minimization of the non-overlapping area (NOA) between the actual and virtual contour. The results of the simulation and phantom experiments show that the NOA algorithm does not fulfil the high accuracy that is necessary for model-based RSA. The IIPM and DIF algorithms are robust to the different distortions, making model-based RSA a possible replacement for marker-based RSA.

Comparison of the model-based and marker-based roentgen stereophotogrammetry methods in a typical clinical setting.

Roentgen stereophotogrammetric analysis (RSA) is an established method for the precise measurement of implant migration. Model-based RSA (MBRSA) alleviates the need to attach tantalum markers to the prosthesis, which has prevented wider application of RSA. The goal of this study was to investigate the equivalence of both methods for the clinical measurement of implant migration. Tibial component migration was measured in 24 patients using both methods from the same set of radiographs. The maximum agreement interval, mean (+/-2 standard deviations), of the difference between both methods was modest, at 0.002 mm (0.144 mm) and -0.078 degrees (0.782 degrees ). The results suggest that MBRSA can be used interchangeably with the marker-based method and that the advantages of MBRSA do not come at the cost of a loss in accuracy.

Model-based Rsa of a Femoral Hip Stem Using Surface and Geometrical Shape Models

Roentgen stereophotogrammetry (RSA) is a highly accurate three-dimensional measuring technique for assessing micromotion of orthopaedic implants. A drawback is that markers have to be attached to the implant. Model-based techniques have been developed to prevent using special marked implants. We compared two model-based RSA methods with standard marker-based RSA techniques. The first model-based RSA method used surface models, and the second method used elementary geometrical shape (EGS) models. We used a commercially available stem to perform experiments with a phantom as well as reanalysis of patient RSA radiographs. The data from the phantom experiment indicated the accuracy and precision of the elementary geometrical shape model-based RSA method is equal to marker-based RSA. For model-based RSA using surface models, the accuracy is equal to the accuracy of marker-based RSA, but its precision is worse. We found no difference in accuracy and precision between the two model-based RSA techniques in clinical data. For this particular hip stem, EGS model-based RSA is a good alternative for marker-based RSA.

Good diagnostic performance of early migration as a predictor of late aseptic loosening of acetabular cups: results from ten years of follow-up with Roentgen stereophotogrammetric analysis (RSA).

BACKGROUND Excessive early migration of femoral stems following total hip arthroplasty and tibial components following total knee arthroplasty is associated with their long-term survival and allows reliable early evaluation of implant performance. However, a similar relationship involving acetabular components following hip arthroplasty has not been evaluated. This prospective, long-term study with clinical and Roentgen stereophotogrammetric analysis (RSA) follow-up establishes the existence of this relationship and its associated diagnostic performance. METHODS Thirty-nine consecutive patients (forty-one hips) who underwent total hip arthroplasty with a cemented Exeter stem and a cemented Exeter all-polyethylene cup had prospective clinical and RSA follow-up. Patients were evaluated postoperatively at six weeks, at three, six, and twelve months, and annually thereafter. Conventional anteroposterior and lateral radiographs were made at six weeks and at two, five, and ten years postoperatively as well as when indicated. The mean duration of follow-up (and standard deviation) was 9.4 ± 3.2 years. No patients were lost to follow-up; fifteen patients died during the follow-up period. RESULTS Eleven acetabular components were observed to be loose on conventional radiographs after a mean of seventy-six months (range, twelve to 140 months). During the first two postoperative years, the failed acetabular components showed markedly greater and more rapid cranial translation and sagittal rotation. Both cranial translation (hazard ratio = 19.9 [95% confidence interval, 4.94 to 80.0], p < 0.001) and sagittal rotation (hazard ratio = 11.1 [95% confidence interval, 2.83 to 43.9], p = 0.001) were strong risk factors for late aseptic loosening. Eight of the eleven failed components showed a distinctive pattern of excessive cranial translation combined with excessive sagittal rotation. The associated diagnostic performance of two-year cranial translation and/or sagittal rotation for predicting late aseptic loosening of the acetabular component was good (area under the receiver operating characteristic curve, 0.88 [95% confidence interval, 0.74 to 1.00; p < 0.001] and 0.84 [95% confidence interval, 0.68 to 1.00; p = 0.001], respectively). CONCLUSIONS Early migration, as measured by RSA at two years postoperatively, has good diagnostic capabilities for the detection of acetabular components at risk for future aseptic loosening, and this method appears to be an appropriate means of assessing the performance of new implants or implant-related changes.

The Exeter femoral stem continues to migrate during its first decade after implantation 10-12 years of follow-up with radiostereometric analysis (RSA)

Background Due to its collarless, double-tapered polished design, the Exeter femoral stem is known to migrate distally in the first 5 years after implantation. However, its long-term migration pattern has not been investigated. Patients and methods 39 consecutive patients (41 total hip arthroplasties) received a cemented Exeter stem and had prospective clinical and RSA follow-up. Patients were evaluated postoperatively at 6, 12, 26, and 52 weeks, and annually thereafter. Short-term results have been reported. In this study, the mean length of follow-up was 9.4 years (SD 3.2 years). No patients were lost to follow-up. 15 patients died during follow-up. Results No stems were revised. In 4 stems, fractures of the cement mantle were noted within the first 3 postoperative years. In 3 stems, this resulted in a complete circumferential cement mantle discontinuity. For the 37 well-performing stems, continuous but small migration was measured between 2 and 12 years of follow-up. Continued subsidence of 0.08 mm/year (95% CI: 0.05–0.12, p < 0.001) was seen in combination with continued rotation in retroversion of 0.07°/year (95% CI: 0.02–0.12, p = 0.01). At 10 years of follow-up, mean subsidence was 2.1 (SD 1.2) mm and mean retroversion was 1.8° (SD 2.0). Two-thirds of this occurred during the first 2 postoperative years. In the 3 stems with a complete circumferential cement fracture, a sudden and disproportionately high increase in subsidence was measured in the time period of occurrence. Interpretation The Exeter femoral stem continues to migrate during the first decade after implantation. Absolute stability is not required for good long-term survival if this is compatible with the design of the implant.

The beneficial effect of hydroxyapatite lasts: a randomized radiostereometric trial comparing hydroxyapatite-coated, uncoated, and cemented tibial components for up to 16 years.

Background and purpose In contrast to early migration, the long-term migration of hydroxyapatite- (HA-) coated tibial components in TKA has been scantily reported. This randomized controlled trial investigated the long-term migration measured by radiostereometric analysis (RSA) of HA-coated, uncoated, and cemented tibial components in TKA. Patients and methods 68 knees were randomized to HA-coated (n = 24), uncoated (n = 20), and cemented (n = 24) components. All knees were prospectively followed for 11–16 years, or until death or revision. RSA was used to evaluate migration at yearly intervals. Clinical and radiographic evaluation was according to the Knee Society system. A generalized linear mixed model (GLMM, adjusted for age, sex, diagnosis, revisions, and BMI) was used to take into account the repeated-measurement design. Results The present study involved 742 RSA analyses. The mean migration at 10 years was 1.66 mm for HA, 2.25 mm for uncoated and 0.79 mm for the cemented group (p < 0.001). The reduction of migration by HA as compared to uncoated components was most pronounced for subsidence and external rotation. 3 tibial components were revised for aseptic loosening (2 uncoated and 1 cemented), 3 for septic loosening (2 uncoated and 1 cemented), and 1 for instability (HA-coated). 2 of these cases were revised for secondary loosening after a period of stability: 1 case of osteolysis and 1 case of late infection. There were no statistically significant differences between the fixation groups regarding clinical or radiographic scores. Interpretation HA reduces migration of uncemented tibial components. This beneficial effect lasts for more than 10 years. Cemented components showed the lowest migration. Longitudinal follow-up of TKA with RSA allows early detection of secondary loosening.

A comparison of calibration methods for stereo fluoroscopic imaging systems

Stereo (biplane) fluoroscopic imaging systems are considered the most accurate and precise systems to study joint kinematics in vivo. Calibration of a biplane fluoroscopy system consists of three steps: (1) correction for spatial image distortion; (2) calculation of the focus position; and (3) calculation of the relative position and orientation of the two fluoroscopy systems with respect to each other. In this study we compared 6 methods for calibrating a biplane fluoroscopy system including a new method using a novel nested-optimization technique. To quantify bias and precision, an electronic digital caliper instrumented with two tantalum markers on radiolucent posts was imaged in three configurations, and for each configuration placed in ten static poses distributed throughout the viewing volume. Bias and precision were calculated as the mean and standard deviation of the displacement of the markers measured between the three caliper configurations. The data demonstrated that it is essential to correct for image distortion when sub-millimeter accuracy is required. We recommend calibrating a stereo fluoroscopic imaging system using an accurately machined plate and a calibration cube, which improved accuracy 2-3 times compared to the other calibration methods. Once image distortion is properly corrected, the focus position should be determined using the Direct Linear Transformation (DLT) method for its increased speed and equivalent accuracy compared to the novel nested-optimization method. The DLT method also automatically provides the 3D fluoroscopy configuration. Using the recommended calibration methodology, bias and precision of 0.09 and 0.05 mm or better can be expected for measuring inter-marker distances.