Gabriëlle J. M. Tuijthof

Design, actuation and control of an anthropomorphic robot arm

Current robots are not safe in interaction with humans, especially when children are involved. Therefore, a four degree-of-freedom robot arm is developed which is inherently safe. This is accomplished by giving the arm a compliant behavior at all times. Firstly, the joint stiffness of the arm is brought to zero. Secondly, the arm is supplied with pneumatic artificial muscles. Their stiffnesses can be adjusted by open loop stiffness control, thereby causing the arm to move to new equilibrium positions.

Overview of subtalar arthrodesis techniques: Options, pitfalls and solutions

BACKGROUND Subtalar arthrodesis (SA) is the preferred treatment for painful isolated subtalar disease. Although results are generally favourable, analysis of current operative techniques will help optimizing this treatment. The aim was to give an overview of SA-techniques and their pitfalls. Possible solutions were identified. MATERIALS AND METHODS A literature search was performed for papers that presented SA operative techniques. The general technique was divided into phases: surgical approach, cartilage removal, bone graft selection, hindfoot deformity correction and fixation. RESULTS The published series were invariably retrospective reviews of small heterogenous groups of different hindfoot pathologies. The weighted outcome rate for SA was 85% (68-100%) performed in 766 feet and for SA requiring correction of malalignment 65% (36-96%) in 1001 feet. Non-union (weighted percentage 12%), malalignment (18%), and screw removal (17%) were the prevailing late complications. PITFALLS The following pitfalls were identified: 1) early complications related to the incisions made in open approaches, 2) insufficient cartilage removal, improper bone graft selection and fixation techniques, all possibly leading to non-union, 3) morbidity caused by bone graft harvesting and secondary screw removal, 4) under- or overcorrection of the hindfoot possibly due to improper intraoperative verification and 5) inadequate assessment of bony fusion. SOLUTIONS The review provides solutions to possibly overcome some pitfalls: 1) if applicable use an arthroscopic approach in combination with distraction devices and new burrs, 2) if possible use local bone graft or allografts, 3) use two screws for fixation to prevent rotational micromotion, and 4) improve assessment of operative outcome by application of appropriate assessment of bony fusion and alignment. CONCLUSION The review provides practical suggestions to optimize SA-techniques.

Computed Tomography of the Ankle in Full Plantar Flexion: A Reliable Method for Preoperative Planning of Arthroscopic Access to Osteochondral Defects of the Talus

PURPOSE The purpose of this study was to determine whether preoperative computed tomography (CT) of the ankle joint in full plantar flexion is a reliable and accurate tool to determine the anterior arthroscopic accessibility of talar osteochondral defects (OCDs). METHODS Twenty consecutive patients were prospectively studied. All patients had an OCD of the talar dome and had a preoperative CT scan of the affected ankle in maximum plantar flexion. Accessibility of the OCD was defined by the distance between the anterior border of the OCD and the anterior distal tibial rim. This distance was measured on sagittal CT reconstructions by 2 investigators. The reference standard was the distance between the same landmarks measured during anterior ankle arthroscopy by an orthopaedic surgeon blinded to the CT scans. Intraobserver and interobserver reliability of CT, as well as the correlation and agreement between CT and arthroscopy, were calculated. RESULTS The measured distance between the anterior border of the OCD and the anterior distal tibial rim ranged from -3.1 to 9.1 mm on CT and from -3.0 to 8.5 mm on arthroscopy. The intraobserver and interobserver reliability of the measurements made on CT scans (intraclass correlation coefficients >0.99, P < .001), as well as the correlation between CT and arthroscopy, were excellent (r = 0.98, P < .001). CONCLUSIONS Measurements on CT scans of the ankle in full plantar flexion are a reliable and accurate preoperative method to determine the in situ arthroscopic location of talar OCDs.

Arthroscopic Accessibility of the Talus Quantified by Computed Tomography Simulation

Background: Anterior ankle arthroscopy is the preferred surgical approach for the treatment of osteochondral defects of the talus (OCDs). However, the ankle is a congruent joint with limited surgical access. Purpose: The dual purpose of this study was (1) to quantify the anterior arthroscopic reach (defined as the proportion of the talar dome articular surface located anterior to the anterior distal tibial rim) with the ankle in full plantar flexion and (2) to identify predictive factors of the arthroscopic reach. Study Design: Descriptive laboratory study. Methods: Computed tomography scans were obtained of 59 ankles (57 patients aged 33 ± 11 years) in full plantar flexion in a nonmetallic 3-dimensional footplate. The arthroscopic reach of both the medial and lateral talar domes was assessed on sagittal reconstructions using a custom-made software routine. Intraobserver and interobserver reliability were calculated by intraclass correlation coefficients (ICCs). Various predictive factors of the arthroscopic reach were analyzed by multivariate linear regression analysis. Results: The arthroscopic reach was 48.2% ± 6.7% (range, 26.7%-60.7%) of the medial talar dome and 47.8% ± 6.5% (range, 31.2%-65.1%) of the lateral talar dome (P = .62). The intraobserver and interobserver reliability of both measurements were excellent (ICC, .99). The clinical plantarflexion angle was a statistically significant predictive factor of both the medial and lateral arthroscopic reaches (ie, increased plantar flexion corresponded to increased area of access), while joint laxity, gender, and age were not predictive. Conclusion: Almost half of the talar dome is accessible anterior to the anterior distal tibial rim. The plantarflexion angle is an independent predictive factor of the arthroscopic reach both medially and laterally. Clinical Relevance: These results may facilitate preoperative planning of the surgical approach for OCDs.

Waterjet drilling in porcine bone: the effect of the nozzle diameter and bone architecture on the hole dimensions.

Using waterjets instead of rigid drill bits for bone drilling can be beneficial due to the absence of thermal damage and a consequent sharp cut. Additionally, waterjet technology allows the development of flexible instruments that facilitate maneuvering through complex joint spaces. Controlling the drilling depth is of utmost importance to ensure clinical safety, but is challenging given the local variations in structural properties of the bone. The goal of this study was to deduce a descriptive mathematical equation able to predict the hole depth and diameter based on the local structural properties of the bone at given waterjet diameters. 210 holes were drilled in porcine femora and tali with waterjet diameters (Dnozzle) of 0.3, 0.4, 0.5 and 0.6mm at a pressure of 700bar and a 5s jet time. Hole depths (Lhole), diameters (Dhole) and bone architectural properties were determined using microCT scans. The most important bone architectural property is the bone volume fraction (BV/TV), resulting in the significant predictive equations: Lhole=34.3 (⁎) Dnozzle(2)-17.6 (⁎) BV/TV+10.7 (R(2)=0.90, p<0.001), and hole Dhole=3.1(⁎) Dnozzle-0.45(⁎)BV/TV+0.54 (R(2)=0.58, p=0.02), with Lhole, Dhole and Dnozzle in mm. Drilling to a specific depth in bone tissue with a known BV/TV is possible, thereby contributing to the safe application of waterjet technology in orthopedic surgery.

Mechanical properties of human bone–implant interface tissue in aseptically loose hip implants

The main cause of failure in total hip replacement is aseptic loosening which is associated with the formation of a periprosthetic fibrous (interface) tissue. Despite important applications for finite element modeling of loose implants, the mechanical properties of the bone-implant interface tissue have never been measured in humans. In this study, we performed unconfined compression tests to characterize the mechanical properties of the interface tissue and to determine the parameters of various hyperelastic material models which were fitted to the measurements. Human interface tissues were retrieved during 21 elective revision surgeries from aseptically loosened cemented (N=10) and uncemented hip implants (N=11). Specimens were tested at a fixed deformation rate of 0.1mm/min up to a maximum force of 10N. Elastic moduli for low and high strain regions of the stress-strain curves were determined. Interface tissue from aseptically loose cemented prostheses shows higher elastic moduli (mean=1.85MPa, 95% C.I.=1.76-1.95MPa) in the high strain region as compared to that of the interface tissue from the cementless group (mean=1.65MPa, 95% C.I.=1.43-1.88MPa). The 5-terms Mooney-Rivlin model ( [Formula: see text] ) described the stress-strain behavior the best. Large variations in the mechanical behavior were observed both between specimens from the same patient as between those of different patients. The material model parameters were therefore estimated for the mean data as well as for the curves with the highest and lowest strain at the maximum load. The model parameters found for the mean data were C1=-0.0074MPa, C2=0.0019MPa, C3=0MPa, C4=-0.0032MPa and C5=0MPa in the cemented group and C1=-0.0137MPa, C2=0.0069MPa, C3=0.0026MPa, C4=-0.0094MPa and C5=0MPa in the cementless group. The results of this study can be used in finite element computer.

Measuring alignment of the hindfoot.

In subtalar arthrodesis operations, correction of the hindfoot alignment is performed in about half of the cases. To improve the quality of the operation, a measurement system was developed which reliably measures the hindfoot angle pre-, per-, and postoperatively. This device was evaluated by measuring subjects in standing weightbearing position and in prone nonweightbearing position. The results were compared with hindfoot angles constructed on posterior photographic images. The results are similar to other studies (all maximum values): intratester accuracy 1.4 degrees, intertester accuracy 2.2 degrees, intratester reliability 0.9, and intertester reliability 0.74. The proposed device will improve the quality of correction, because it enables peroperative measurement of hindfoot alignment.

Education in wrist arthroscopy: past, present and future.

PurposeArthroscopy has assumed an important place in wrist surgery. It requires specific operative skills that are now mainly acquired in the operating room. In other fields of endoscopic surgery, e-learning and virtual reality (VR) have introduced new perspectives in teaching skills. This leads to the following research question: Could the current way of teaching wrist arthroscopy skills be supported using new educational media, such as e-learning and simulator training?MethodThe literature was searched for available methods of teaching endoscopic skills. Articles were assessed on the evidence of validity. In addition, a survey was sent to all members of the European Wrist Arthroscopy Society (EWAS) to find out whether hand surgeons express a need to embrace modern educational tools such as e-learning or simulators for training of wrist arthroscopy skills.ResultsThis study shows that the current way of teaching wrist arthroscopy skills can be supported using new educational media, such as e-learning and simulator training. Literature indicates that e-learning can be a valuable tool for teaching basic knowledge of arthroscopy and supports the hypothesis that the use of virtual reality and simulators in training enhances operative skills in surgical trainees. This survey indicates that 55 out of 65 respondents feel that an e-learning program would be a valuable asset and 62 out of the 65 respondents are positive on the additional value of wrist arthroscopy simulator in training.ConclusionStudy results support the need and relevance to strengthen current training of wrist arthroscopy using e-learning and simulator training.Level of evidenceV.

Is Technique Performance a Prognostic Factor in Bone Marrow Stimulation of the Talus

Although results of bone marrow stimulation in osteochondral defects of the talus (OCLT) have been satisfactory, the technique performance has not yet been subjected to review as a prognostic factor. The aim of this systematic review is to determine whether variation within technique influences outcome of bone marrow stimulation for OCLT. Electronic databases were searched for articles on OCLT treated with bone marrow stimulation techniques, providing a technique description. Six articles on microfracture were included (198 patients). Lesion size averaged 0.9 cm (2) to 4.5 cm (2), and follow-up varied from 2 to 6 years. Key elements were removal of unstable cartilage, hole depth variation between 2 and 4 mm until bleeding or fat droplets occurred, and a distance between the created holes of 3 to 4 mm. The success rate (excellent/good results by any clinical outcome score) was 81%. There is a vast similarity in the technique with similar outcomes as in previous general reviews; therefore variation in technique as currently described in the literature does not seem to influence the outcome of bone marrow stimulation for OCLT. Whether the instruments used or the hole depth and geometry influence clinical outcome remains to be determined. Microfracture is safe and effective for OCLTs smaller than 15 mm. However, in this review, only 81% of patients obtained satisfactory results. Larger clinical trials are needed with clearly defined patient groups, technique descriptions, and reproducible outcome measures to provide insight in the specific indications and the preferred technique of bone marrow stimulation.

Clinical Tip: Aiming Probe for a Precise Medial Malleolar Osteotomy

Level of Evidence: V, Expert Opinion