Objective: Surgical microfracture is considered a first-line treatment for talar osteochondral defects. However, current rigid awls and drills limit access to all locations in human joints and increase risk of heat necrosis of bone. Using a flexible water jet instrument to drill holes can improve the reachability of the defect without inducing thermal damage. The aim of this feasibility study is to determine whether water jet drilling is potentially safe compared with conventional microfracture awls by studying side effects and perioperative complications, as well as the quality of cartilage repair tissue. Design: Talar chondral defects with 6-mm diameter were created bilaterally in 6 goats (12 samples). One defect in each goat was treated with microfracture created with conventional awls, the contralateral defect was treated with holes created with 5-second water jet bursts at a pressure of 50 MPa. Postoperative complications were recorded and after 24 weeks analyses were performed using the ICRS (International Cartilage Repair Society) macroscopic score and modified O’Driscoll histological score. Results: Several practical issues using the water jet in the operating theatre were noted. Water jet drilling resulted in fibrocartilage repair tissue similar to the repair tissue from conventional awls. Conclusions: These results suggest that water jet drilling gives adequate fibrocartilage repair tissue. Furthermore, the results highlight essential prerequisites for safe application of surgical water jet drilling: stable water pressure, water jet beam coherence, stable positioning of the nozzle head when jetting, and minimizing excessive fluid extravasation.

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Bone shapes, particularly those defining the subtalar joint (STJ), have not received much attention yet as a risk factor for developing chronic ankle instability (CAI) after sustaining a lateral ankle sprain (LAS). This study aimed to compare three-dimensional (3D) shape variations in the STJ bones within individuals with CAI and healthy controls. 3D statistical shape models (SSMs) of the STJ bones were built to describe the bone shape variations observed within a population consisting of 26 individuals with unilateral CAI and 26 healthy controls. Using the SSMs and analysis of covariance test, age- and gender-adjusted shape variations in the bones were compared within individuals with CAI and healthy controls. The mean age of the CAI patients (14 males and 12 females) and healthy controls (12 males and 14 females) was 29 (standard deviation [SD] = 11) and 36 years (SD = 11), respectively. Tali and calcanei did not significantly vary between ipsilateral CAI and their contralateral ankle. Two shape modes, one for the talus (p = 0.015, variations in the curvature of the talar lateral process and the inclination angle of the talar neck relative to the body) and one for the calcaneus (p = 0.003, variations in the medial and lateral tuberosities, and the contour of the anterior articular surface), described significant shape differences between the CAI patients and healthy controls. The CAI patients generally had flatter talar joint surfaces and a flattened calcaneal ground-contact surface. These findings suggest that specific bone shapes may increase the risk of developing CAI after sustaining a LAS.

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Residents need to learn many skills before performing safely and independent in the operating theater. Essential skills that are considered important for performing arthroscopy are anatomical knowledge, triangulation, and spatial perception. Sufficient metrics are available to monitor training performance. Motion, time, and force information can be combined in specific metrics that indicate instrument handling efficiency and risks on hazards during tissue handling. Translation of skills into measurable learning objectives is very well feasible for training skill-based behavior.@en

A rigid surface–volume registration scheme is presented in this study to register computed tomography (CT) and free-hand tracked ultrasound (US) images of the talocrural joint. Prior to registration, bone surfaces expected to be visible in US are extracted from the CT volume and bone contours in 2D US data are enhanced based on monogenic signal representation of 2D US images. A 3D monogenic signal data is reconstructed from the 2D data using the position of the US probe recorded with an optical tracking system. When registering the surface extracted from the CT scan to the monogenic signal feature volume, six transformation parameters are estimated so as to optimize the sum of monogenic signal features over the transformed surface. The robustness of the registration algorithm was tested on a dataset collected from 12 cadaveric ankles. The proposed method was used in a clinical case study to investigate the potential of US imaging for pre-operative planning of arthroscopic access to talar (osteo)chondral defects (OCDs). The results suggest that registrations with a registration error of 2 mm and less is achievable, and US has the potential to be used in assessment of an OCD’ arthroscopic accessibility, given the fact that 51% of the talar surface could be visualized@en

Background: Elbow arthroscopy is a difficult surgical technique. Objective metrics can be used to improve safe and effective training in elbow arthroscopy. Force exerted on the elbow tissue during arthroscopy can be a measure of safe tissue manipulation. The purpose of this study was to determine the force magnitude and force direction used by experts during arthroscopic elbow navigation in cadaveric specimens and assess their applicability in elbow arthroscopy training. Methods: Two cadaveric elbows were mounted on a Force Measurement Table (FMT) that allowed 3-dimensional measurements (x-, y-, and z-plane) of the forces exerted on the elbow. Five experts in elbow arthroscopy performed arthroscopic navigation once in each of two cadaveric elbows, navigating through the posterior, posterolateral and anterior compartment in a standardized fashion with visualization of three to four anatomic landmarks per compartment. The total absolute force (Fabs) and force direction exerted (α and β) on the elbow during arthroscopy were recorded. α being the angle in the horizontal plane and β being the angle in the vertical plane. The 10th–90th percentiles of the data were used to set threshold levels for training. Results: The median Fabs was 24 N (19 N – 30 N), 27 N (20 N – 33 N) and 29 N (23 N – 32 N) for the posterior, posterolateral and anterior compartment, respectively. The median α was - 29° (- 55° – 5°), - 23° (- 56° – -1°) and 4° (- 22° – -18°) for the posterior, posterolateral and anterior compartment, respectively. The median β was - 71° (- 80° – -65°), - 76° (- 86° – -69°) and - 75° (- 81° – -71°) for the posterior, posterolateral and anterior compartment, respectively. Conclusion: Expert data on force magnitude and force direction exerted on the elbow during arthroscopic navigation in cadaveric specimens were collected. The proposed maximum allowable force of 30 N (smallest 90th percentile of Fabs) exerted on the elbow tissue, and the 10th–90th percentile range of the force directions (α and β) for each compartment may be used to provide objective feedback during arthroscopic skills training.@en

This experimental work focused on the sensor selection for the development of a needle-like instrument to treat small isolated cartilage defects with hydrogels. The aim was to identify the most accurate and sensitive imaging method to determine the location and size of defects compared to a gold standard (µCT). Only intravascular ultrasound imaging (IVUS) vs. optical coherent tomography (OCT) were looked at, as they fulfilled the criteria for integration in the needle design. An in-vitro study was conducted on six human cadaveric tali that were dissected and submerged in saline. To simulate the natural appearance of cartilage defects, three types of defects were created via a standardised protocol: osteochondral defects (OCD), chondral defects (CD) and cartilage surface fibrillation (CSF), all sized between 0.1 and 3 mm in diameter. The detection rate by two observers for all diameters of OCD were 80, 92 and 100% with IVUS, OCT and µCT, for CD these were 60, 83 and 97%, and for CSF 0, 29 and 24%. Both IVUS and OCT can detect the presence of OCD and CD accurately if they are larger than 2 mm in diameter, and OCT can detect fibrillated cartilage defects larger than 3 mm in diameter. A significant difference between OCT–µCT and IVUS–µCT was found for the diameter error (p = 0.004) and insertion depth error (p = 0.002), indicating that OCT gives values closer to reference µCT. The OCT imaging technique is more sensitive to various types and sizes of defects and has a smaller diameter, and is therefore preferred for the intended application.

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Arthroscopy simulators allow standardized practice of basic skills in the knee and shoulder joint, including inspection and identification of all important structures in the joint with the arthroscope and probe. Arthroscopy simulators monitor trainee performance and provide feedback to assist training. Arthroscopy simulators require further validation, especially for the highest levels: predictive and transfer validity. None of the available simulators allows training of portal placement, which is considered highly relevant by a large number of physicians.@en

Background Visual force feedback allows trainees to learn laparoscopic tissue manipulation skills. The aim of this experimental study was to find the most efficient visual force feedback method to acquire these skills. Retention and transfer validity to an untrained task were assessed. Methods Medical students without prior experience in laparoscopy were randomized in three groups: Constant Force Feedback (CFF) (N = 17), Bandwidth Force Feedback (BFF) (N = 16) and Fade-in Force Feedback (N = 18). All participants performed a pretest, training, post-test and follow-up test. The study involved two dissimilar tissue manipulation tasks, one for training and one to assess transferability. Participants performed six trials of the training task. A force platform was used to record several force parameters. Results A paired-sample t test showed overall lower force parameter outcomes in the post-test compared to the pretest (p < .001). A week later, the force parameter outcomes were still significantly lower than found in the pretest (p < .005). Participants also performed the transfer task in the post-test (p < .02) and follow-up (p < .05) test with lower force parameter outcomes compared to the pretest. A one-way MANOVA indicated that in the post-test the CFF group applied 50 % less Mean Absolute Nonzero Force (p = .005) than the BFF group. Conclusion All visual force feedback methods showed to be effective in decreasing tissue manipulation force as no major differences were found between groups in the post and follow-up trials. The BFF method is preferred for it respects individual progress and minimizes distraction.@en

The goal of this study was to determine the preferred handle design for two degrees of freedom steerable arthroscopic cutter by performing a two-step development approach. The expected usefulness and usability of control components of three entirely different handles were defined by an on-line survey with 101 students and the actual control by a standardised laboratory study with mock-up models by 16 students. The preferred handle design was integrated in a full functional prototype and optimized by 10 experts performing a meniscectomy on human cadaver knees. Students (survey 70% and task 91%) expected the same control behaviour as the experts (60%): steering a wheel to the right should evoke tip steering to the right regardless the orientation of the beak and moving a ring lever towards the handle’s centre point should evoke closure of the tip. Development of surgical instruments can benefit from expected control behavior based on daily life tools, but requires expert involvement for specific surgical tasks and context.

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The purpose of this study was to generate consensus among experienced surgeons on what skills a resident should possess before continuing safe training in the operating room (OR). An online survey of 65 questions was developed and distributed to surgeons in the European community. A total of 216 responded. The survey included 15 questions regarding generic and specific skills; 16 on patient and tissue manipulation, 11 on knowledge of pathology and 6 on inspection of e-anatomical structures; 5 methods to prepare residents; and 12 on specific skills exercises. The importance of each question (arthroscopic skill) was evaluated ranging from 1 (not important at all) to 6 (very important). Chi-square test, respondent agreement, and a qualitative ranking method were determined to identify the top ranked skills (p < 0.05). The top four of general skills considered important were anatomical knowledge, tissue manipulation, spatial perception, and triangulation (all chi-square test > 134, p < 0.001, all excellent agreement > 0.85, and all high priority level). The top ranked 2 specific arthroscopic skills were portal placement and triangulating the tip of the probe with a 30-degree scope (chi-square test > 176, p < 0.001, excellent agreement, and assigned high priority). The online survey identified consensus on skills that are considered important for a trainee to possess before continuing training in the OR. Compared with the Canadian colleagues, the European arthroscopy community demonstrated similar ranking.@en

In orthopaedic surgery, water jet drilling provides several advantages over classic drilling with rigid drilling bits, such as the always sharp cut, absence of thermal damage and increased manoeuvrability. Previous research showed that the heterogeneity of bone tissue can cause variation in drilling depth whilst water jet drilling. To improve control over the drilling depth, a new method is tested consisting of two water jets that collide directly below the bone surface. The expected working principle is that after collision the jets will disintegrate, with the result of eliminating the destructive power of the coherent jets and leaving the bone tissue underneath the focal point intact. To assess the working principle of colliding water jets (CWJ), the influence of inhomogeneity of the bone tissue on the variation of the drilling depth and the impact of jet time (twj) on the drilling depth were compared to a single water jet (SWJ) with a similar power. 98 holes were drilled in 14 submerged porcine tali with two conditions CWJ (impact angle of 30° and 90°) and SWJ. The water pressure was 70 MPa for all conditions. The water jet diameter was 0.3 mm for CWJ and 0.4 mm for SWJ. twj was set at 1, 3, 5 and 8 s. Drilling depth and hole diameter were measured using microCT scans. A non-parametric Levene's test was performed to assess a significant difference in variance between conditions SWJ and CWJ. A regression analysis was used to determine differences in influence of twj on the drilling depth. Hole diameter differences were assessed using a one way Anova. A significance level of p<0.05 was set. Condition CWJ significantly decreases the drilling depth variance caused by the heterogeneity of the bone when compared to SWJ. The mean depth for CWJ was 0.9 mm (SD 0.3 mm) versus 4.8 mm (SD 2.0) for SWJ. twj affects the drilling depth less for condition CWJ (p<0.01, R2=0.30) than for SWJ (p<0.01, R2=0.46). The impact angle (30° or 90°) of the CWJ does not influence the drilling depth nor the variation in depth. The diameters of the resulting holes in the direction of the jets is significantly larger for CWJ at 90° than for 30° or a single jet. This study shows that CWJ provides accurate depth control when water jet drilling in an inhomogeneous material such as bone. The maximum variance measured by using the 95% confidence interval is 0.6 mm opposed to 5.4 mm for SWJ. This variance is smaller than the accuracy required for bone debridement treatments (2–4 mm deep) or drilling pilot holes. This confirms that the use of CWJ is an inherently safe method that can be used to accurately drill in bones.@en

Using water jets for orthopedic procedures that require bone drilling can be beneficial due to the absence of thermal damage and the always sharp cut. Previously, the influence of the water jet diameter and bone architectural properties on the drilling depth have been determined. To develop water jet instruments that can safely drill in orthopedic surgery, the impact of the two remaining primary factors were determined: the jet time (tjet [s]) and pressure (P [MPa]). To this end, 84 holes were drilled in porcine tali and femora with water jets using Ø 0.4 mm nozzle. tjet was varied between 1, 3 and 5 s and P between 50 and 70 MPa. Drilling depths Lhole (mm), diameters Dhole (mm) and the volume of mineralized bone per unit volume (BV/TV) were determined with microCT scans. A non-linear regression analysis resulted in the predictive equation: Lhole= 0.22 * tjet0.18 * (1.2–BV/TV) * (P–29) (R2=0.904). The established relation between the machine settings and drilling depth allows surgeons to adjust jet time and pressure for the patient׳s BV/TV to drill holes at a predetermined depth. For developers, the relation allows design decisions to be made that influence the dimensions, flexibility and accuracy of water jet instruments. For a pressure of 50 MPa, the potential hole depth spread indicated by the 95% confidence interval is <1.6 mm for all tested jet times. This maximum variance is smaller than the accuracy required for bone debridement treatments (2–4 mm deep), which confirms that water jet drilling can be applied in orthopedic surgery to drill holes in bone with controlled depth. @en

To improve arthroscopic skills, the preferred means of training is cadaveric tissue, because this gives the most realistic scenario. A drawback of cadaveric training is that objective performance tracking and accompanied feedback cannot be provided due to the absence of a suitable system. The main criteria were that the system should be compatible with any cadaveric joint, be used with any type of instrument, easy to set up, and measure two critical parameters that reflect the task efficiency (task time) and safety (forces due to instrument-tissue interaction). This resulted in the development of a force measurement system which consists of a custom-made universal vice, a custom-designed six degreeof-freedom (DOF) force measurement table (FMT) coupled to a computer equipped with customized software to record the time and forces in all directions. The FMT was calibrated and able to measure forces in the range of 0-750 N, with an accuracy of 0.1 N. During two cadaveric training courses, measurements were performed with the FMT. It was observed that the acquired force data could discriminate between novices and experts or reflect a certain phase of a navigation task performed in a cadaveric cow and human knee. A distinct phase highlighted from the force measurements is the insufficient joint stressing of novices during navigation. This results in too small a joint space for inspection and forces the novices to readjust the stressing. As forces cannot be seen, the FMT can contribute to more efficient training by providing explicit cues on the exerted loads during training. This enables a more precise supervision of the trainees.@en