A MODULAR AND UNIVERSAL PLANNING SYSTEM FOR NAVIGATION- AND ROBOTIC-BASED INTERVENTIONS IN ALLOARTHROPLASTY AND LARGE BONE SURGERY

In the framework of the modiCAS (Modular Interactive Computer Assisted Surgery) Project, which emerged from a collaboration of the University of Siegen and the University of Frankfurt in the fields of mechatronics and medicine, the development of a modular system to assist the surgeon during the whole planning and operation procedure has been started. A completely new realization of a planning system for bone surgery and alloarthroplasty is presented. Characteristics of the new system are generic interfaces for navigation, robotics and real-time data acquisition, graphic interactivity, documentation of each planning-step, a flexible wizard-guided concept and adaptable teaching modes. The system can be configured to any data source such as X-ray, CT, MRI, US with individual calibration. For planning, the data sources can be merged in any user defined way. In contrast to all existing planning systems the presented system can optionally be linked to navigation and robotic systems. The software was realized to run platform-independent on any personal computer surrounding. We used commercially available software libraries for computer graphics and graphical user interface programming. The whole system consists of several modules which are closely linked together and support all major pre- and intraoperative steps of surgery. The user interface remains the same during the planning and the intervention. Preoperative planning is carried out on a totally new planning station comprising an interactive and intuitive graphic interface, while intraoperative features include interactive matching procedures, true real-time-capability and incorporation of navigation and robotics. Initially we realized modules to support total hip allo-arthroplasty. The first application of the system is for a clinical trial on total hip alloarthroplasty. Planning is performed on the basis of radiographs and CT-datasets. Intraoperatively a navigation system and a robotic surgery system are used. Preliminary results show very precise and reproducible plannings that could be achieved in short time without special training of the clinician. Furthermore the unlimited intraoperative access to the whole planning dataset appeared to be very convenient to the surgeon because it allowed immediate response to unforeseen patient specific situations. Future adaptations of the universal planning system will be total knee alloarthroplasty, spine surgery and trauma surgery. The existing system can easily be configured to any surgical procedure because the same basic functionality is used for all applications and only special configurative datasets have to be generated for each application. The open architecture of the system enables easy integration of further input or output devices, an easy adaptation to different interventions, planning styles and operative techniques is possible.