An Integrated System Using Ultrasound-Based Registration for Surgical Navigation of Iliosacral Screw Insertions

Objective: Pelvic fractures often require fixation through iliosacral joint, typically guided by fluoroscopy using an untracked C-arm device. However, this involves ionizing radiation exposure and potentially inaccurate screw placement. We introduce the Navigated Orthopaedic Fixations using Ultrasound System (NOFUSS), a radiation-free ultrasound (US)-based end-to-end system for providing real-time navigation for iliosacral screw (ISS) insertions. Methods: We performed surgeries on 8 human cadaver specimens, inserting four ISSs per specimen to directly compare NOFUSS against conventional fluoroscopy. Six specimens yielded usable (marginal or adequate quality) US images. Results: The median screw entry error, midpoint error, and angulations errors for NOFUSS were 8.4 mm, 7.0 mm, and 1.4◦, compared to 7.5 mm (p = 0.52), 5.7 mm (p = 0.30), and 4.4◦ (p = 0.001) for fluoroscopy respectively. NOFUSS resulted in 6 (50%) breaches, compared to 2 (16.7%) in fluoroscopy (p = 0.19). The median insertion time was 7m 37s and 12m 36s per screw for NOFUSS and fluoroscopy respectively (p = 0.002). The median radiation exposure during the fluoroscopic procedure was 2m 44s, (range: 1m 44s – 3m 18s), with no radiation required for NOFUSS. When considering the three cadavers that yielded only adequate-quality US images (12 screws), the measured entry errors were 3.6 mm and 8.1 mm respectively for NOFUSS and fluoroscopy (p = 0.06). Conclusion: NOFUSS achieved insertion accuracies on par with the conventionalfluoroscopicmethod,andreducedinsertiontimesandradiation exposure significantly. Significance: This study demonstrated the feasibility of an automated, radiation-free, US-based surgical navigation system for ISS insertions.