Biomedical subjects

S Lavallée

Publications and source records attributed to S Lavallée.

17 recordsLinked to original sources

PubMed2001

Clinical results of percutaneous pelvic surgery. Computer assisted surgery using ultrasound compared to standard fluoroscopy.

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.

Adult↗

PubMed2001

[Computer-assisted video-endoscopic endonasal surgery].

UNLABELLED: To make the surgical procedure safer and more precise in FESS, a non-invasive markerless computer-assisted system (CAS) is described for intra-operative navigation whenever the critical regions may be affected by surgical manipulation. PATIENTS AND METHODS: Twenty patients with benign diseases of the paranasal sinuses were treated by Computer Assisted Video-endoscopic surgery, between December 1997 and March 1998. For the determination of accuracy and reproducibility of the system, ten anatomical landmarks on each side of the paranasal sinuses were chosen and measured. All of these points were identified on the direct live video-endoscopy image and compared to those obtained with the Optical Digitizing System (Flashpoint 5000(R)), on axial, coronal and sagittal view. The Optical Localizer we used detects the position of the relative coordinates of two rigid bodies made of IR-LED's each, one rigid body is secured to the head' of the patient with a headset, so that patient motion can be tracked, and the second rigid body attached to the operating instrument, leading to direct localization of the tip of the instrument. We use a markerless, skin surface-based registration method, which has the advantage to avoid doing a second CT scan examination usually performed to process the position of the fiducial markers. We register the data from the patient's usual paranasal CT scan. RESULTS: Computer-assisted surgery does not increase significantly the duration of the operation. Our markerless skin surface points registration method is reliable enabling of the movements patient's head during the procedure. Computer assistance can be used in almost any type of endoscopic sinonasal procedure. We obtained a registration and calibration accuracy of less than 1.5 mm in 89.2% of cases. CONCLUSION: CAS enables the surgeon to have a more thorough understanding of the complicated anatomy of paranasal sinuses, and may be especially helpful in revision surgery when normal anatomic landmarks are lacking. Due to the passive optical technology (Passive Polaris(R)), we are continuing clinical studies in ENT surgery in order do improve the system and to simplify its current management.

Adult↗

PubMed2000

A simulator for maxillofacial surgery integrating 3D cephalometry and orthodontia.

OBJECTIVES: This paper presents a new simulator for maxillofacial surgery that gathers the dental and maxillofacial analyses together into a single computer-assisted procedure. The idea is to first propose a repositioning of the maxilla via the introduction of 3D cephalometry applied to a 3D virtual model of the patient's skull. Orthodontic data are then integrated into this model, using optical measurements of plaster casts of the teeth. MATERIALS AND METHODS: The feasibility of the maxillofacial demonstrator was first evaluated on a dry skull. To simulate malformations (and thus simulate a "real" patient), the skull was modified and manually cut by the surgeon to generate a given maxillofacial malformation (with asymmetries in the sagittal, frontal, and axial planes). RESULTS: The validation of our simulator consisted of evaluating its ability to propose a bone repositioning diagnosis that would restore the skull to its original configuration. An initial qualitative validation is provided in this paper, with a 1.5-mm error in the repositioning diagnosis. CONCLUSIONS: These results mainly validate the concept of a maxillofacial numerical simulator that integrates 3D cephalometry and guarantees a correct dental occlusion.

Cephalometry↗

PubMed2000

The mesh-matching algorithm: an automatic 3D mesh generator for finite element structures.

Several authors have employed finite element analysis for stress and strain analysis in orthopaedic biomechanics. Unfortunately, the definition of three-dimensional models is time consuming (mainly because of the manual 3D meshing process) and consequently the number of analyses to be performed is limited. The authors have investigated a new patient-specific method allowing automatically 3D mesh generation for structures as complex as bone for example. This method, called the mesh-matching (M-M) algorithm, generated automatically customized 3D meshes of anatomical structures from an already existing model. The M-M algorithm has been used to generate FE models of 10 proximal human femora from an initial one which had been experimentally validated. The automatically generated meshes seemed to demonstrate satisfying results.

Algorithms↗

PubMed2000

An overview of computer-integrated surgery and therapy.

Computer-integrated surgery and therapy (CIST): Methods and systems to help the surgeon or the physician use multimodality data (mainly medical images) in a rational and quantitative way, in order to plan but also to perform medical interventions through the use of passive, semi-active, or active guiding systems.

Diagnostic Imaging↗

PubMed1999

Incorporating a statistically based shape model into a system for computer-assisted anterior cruciate ligament surgery.

This paper addresses the problem of extrapolating very sparse three-dimensional (3-D) data to obtain a complete surface representation. A new method that uses statistical shape models is proposed and its application to computer-assisted anterior cruciate ligament (ACL) reconstruction is detailed. The rupture of the ACL has become one of the most common knee injuries. One problem during reconstruction is to find the optimal attachment points for the graft. Therefore a system for computer-assisted reconstruction of the ACL has been proposed by TIMC laboratory. During surgery the surgeon collects several data points on the tibial and femoral joint surface with a 3-D localizer system. These 3-D data are used to find those attachment points resulting in a low anisometry of the graft, while preventing impingement between the graft and the femoral notch. As the collected data points only cover a small surface patch of the femur, it is desirable to extrapolate these data to also have a visualization in those areas where no data points are available. A sufficiently good approximation of the actual femur by the model would further allow us to better deal with the notch impingement problem of the graft. The chosen approach is to fit a deformable model to the data points, it can be subdivided into two steps, constructing the model and fitting this model to the data. To incorporate a priori knowledge into the model, the allowed deformations are determined by the statistics of the shape variation of a set of training objects. Matching the training objects together is obtained by elastic registration of surface points using octree splines. The fitting process of the sparse intra-operative data with the statistical model results in a non-linear multi-dimensional function minimization. A hybrid search strategy combining local and global methods is used to avoid local minima. First experimental results with a model generated from 10 femurs are presented, including fitting of the model with both simulated and real intra-operative data.

Anisotropy↗

PubMed1999

CRIGOS: a compact robot for image-guided orthopedic surgery.

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.

Humans↗

PubMed1998

Computer-assisted spine surgery.

The aim of this study was to improve the reliability of pedicle screw insertion. Transpedicle screw insertion may cause neurological, vascular, and mechanical complications. Previous studies of surgical procedures have shown a significant rate of incorrect placement of the screw ranging from 10 to 40%. A new technique that combines preoperative computed tomography (CT) imaging with intraoperative passive navigation was used to perform 64 pedicle screw insertions in the thoracolumbar region. At the same time, 64 pedicle screw insertions were performed manually in the same region and on the same vertebral levels. Surgery was followed in all cases by postoperative radiographs and computed tomography examination, which allowed measurements of screw position relative to pedicle position to be performed. A comparison between the two groups showed that six screws in 64 vertebra (9%) had incorrect placement with the computer-assisted technique whereas 28 screws in 64 vertebra (44%) had incorrect placement with manual insertion. The intraoperative accuracy provided by the computer after registration was better than 1 mm. The good results obtained are similar to those reported in the literature. The cortex penetration observed with the computer-assisted technique was not imputed to computer failure. Errors by the surgeon in acquiring data in the pre- and perioperative steps may explain the six incorrect screw placements. This clinical experience confirms that the accuracy and the reliability of this computer-assisted technique are good.

Bone Screws↗

PubMed1998

[Computer-assisted surgery: automated screw placement in the vertebral pedicle].

AIM OF THE STUDY: Previous studies of conventional surgical procedures have shown a significant rate of incorrect pedicle screw placement ranging from 10 to 40%. Transpedicle screw insertion may cause three types of complications: neurologic, vascular and mechanical. The aim of this prospective study is to improve the reliability of pedicle screwing with computer assistance. MATERIAL AND METHODS: A new and original technique that combines preoperative computed tomography imaging with intraoperative passive navigation has been used to perform 48 pedicle screwings in the thoracolumbar region. In the same time, 48 pedicle screwings were performed manually in the same region and on the same vertebral levels. With postoperative X-rays and computed tomography examination, screw position related to pedicle position could be assessed and comparison could be made between the two groups (with and without computer assistance). RESULTS: Two screws in 48 vertebra (4%) had incorrect placement with computer assisted technique whereas 18 screws in 48 vertebra (37%) had incorrect placement with manual insertion. The intraoperative accuracy provided by the computer after registration was better than 1 mm. The difference between the two groups was statistically highly significant (P < 0.0001). The cortex penetration observed with the computer assisted technique was not imputed to computer failures. Errors in acquiring data by the surgeon in the pre and peroperative steps may explain the two incorrect placements of the screws. CONCLUSION: This clinical experience confirms that the accuracy and reliability of this computer assisted technique are very good.

Bone Screws↗

PubMed1998

Medical imaging and registration in computer assisted surgery.

Imaging, sensing, and computing technologies that are being introduced to aid in the planning and execution of surgical procedures are providing orthopaedic surgeons with a powerful new set of tools for improving clinical accuracy, reliability, and patient outcomes while reducing costs and operating times. Current computer assisted surgery systems typically include a measurement process for collecting patient specific medical data, a decision making process for generating a surgical plan, a registration process for aligning the surgical plan to the patient, and an action process for accurately achieving the goals specified in the plan. Some of the key concepts in computer assisted surgery applied to orthopaedics with a focus on the basic framework and underlying technologies is outlined. In addition, technical challenges and future trends in the field are discussed.

Bone and Bones↗

PubMed1998

Computer assisted reconstruction of the anterior cruciate ligament.

Reconstruction of the anterior cruciate ligament is a delicate task for which many different techniques have been proposed. A system consisting of a computer and a three-dimensional optical sensor is proposed to help the surgeon control the placement of a graft. This system can be used to minimize anisometry of the graft and avoid notch impingement. The same system, which had been validated by previous testing on 20 fresh human anatomic specimen knees, was tested on 23 patients who had an anterior cruciate ligament injury. Tunnel placement was performed using the standard technique of Morgan et al and was measured with the computer based system. It was found that all cases had different configurations of tibial and femoral placement. The computer based anisometry measurements ranged from 1.9 mm to 8.8 mm in the anterior part of the graft, and from 1 mm to 13 mm in the centers of the tunnels. Using the computer retrospectively, it was possible to find configurations of the graft in all cases that avoid notch impingement, with anisometry values ranging from 1.3 mm to 3.7 mm. This study shows that a computer based system can be a useful tool for routine anterior cruciate ligament reconstruction and can be useful for research purposes.

Anterior Cruciate Ligament↗

PubMed1995

Computer-assisted dental implant surgery using computed tomography.

Standard planning for dental implants consists of a prosthesis simulation on diagnostic casts and radiographic examination of anatomical structures. The clinician visually locates the planned trajectory on the surgical site in the patient's mouth without direct correlation between the radiographs and the anatomy. We have developed a computer assisted technique to define the optimal position of the bone implant using computed tomography to accurately place the implant in the planned position using a guide drilled into a resin splint.

Computer Simulation↗

PubMed1995

Computer-assisted knee anterior cruciate ligament reconstruction: first clinical tests.

Anterior cruciate ligament reconstruction is a delicate task. The procedure of choice is the patellar tendon bone autograft, but an anisometric position of this tendon often leads to failure. We allows positioning of the central part of the ligament graft at the least anisometric sites. The system uses a workstation and a three-dimensional optical localizer to create images that represent knee kinematics. The surgeon uses these images to guide the surgery. This technique has been validated on eight cadavers and 12 patients.

Anterior Cruciate Ligament↗

PubMed1995

Computer-assisted spine surgery: a technique for accurate transpedicular screw fixation using CT data and a 3-D optical localizer.

The computer-assisted spine surgery system presented in this paper follows the basic ideas which have been developed for computer-assisted medical interventions (CAMI) in our lab since 1985. There are three steps to insert a linear tool inside vertebral pedicles. First, the surgeon defines an optimal trajectory on pre-operative computed tomography. Second, this trajectory is reported in the operating room coordinate system using an intra-operative sensor and a registration algorithm. Third, a guiding system helps the surgeon follow the selected trajectory. In this paper, we present an implementation of this method that uses only a 3-dimensional optical localizer. Results on cadaver specimens and on the first seven patients are presented.

Bone Screws↗

PubMed1995

Building a hybrid patient's model for augmented reality in surgery: a registration problem.

In the field of Augmented Reality in Surgery, building a hybrid patient's model, i.e. merging all the data and systems available for a given application, is a difficult but crucial technical problem. The purpose is to merge all the data that constitute the patient model with the reality of the surgery, i.e. the surgical tools and feedback devices. In this paper, we first develop this concept, we show that this construction comes to a problem of registration between various sensor data, and we detail a general framework of registration. The state of the art in this domain is presented. Finally, we show results that we have obtained using a method which is based on the use of anatomical reference surfaces. We show that in many clinical cases, registration is only possible through the use of internal patient structures.

Algorithms↗

PubMed1995

[Value of image guided neurosurgery in neuro-oncology].

Brain tumor surgery, stereotactic or by resection, is based on the precise knowledge of the spatial position of the target and of their relationships with the normal brain structures. Modern computed neuroimaging allows image guidance of neurosurgical procedures, using robots driven by the coordinates of the target and of the entry point. We have developped a stereotactic robot as well as a robotized microscope which are guided from digitized images. They are used in routine daily practice and will become part of the standard neurosurgical equipment.

Brain Mapping↗

PubMed1993

Pre- and intra-irradiation multimodal image registration: principles and first experiments.

Accurately repositioning the patient with respect to CT or MR images is essential for high precision radiotherapy. We show that portal images may be automatically registered with 3D pre-session data (typically morphological images like CT or MR images), thus enabling an automatic adjustment of the planned strategy to the actual position of the patient. Based on computer vision techniques, the principles of this new method of multimodal image registration are presented, and the first experiments with a phantom are analysed.

Humans↗