Clinical Review

Active Robotics for Total Hip Arthroplasty

Am J Orthop. 2016 May;45(4):256-259

Robotics and computer-assisted navigation have been developed to increase the accuracy of hip implant placement and improve long-term outcomes of total hip arthroplasty (THA). These technologies have shown significant improvements in implant positioning when compared to conventional techniques. Currently, 3 robotic systems are cleared for use for THA in the US. The lead author (DSD) describes his preferred technique for using one of these systems, the TSolution One^®(Think Surgical, Inc.).

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References

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Total hip arthroplasty (THA) is a successful surgery with positive clinical outcomes and over 95% survivorship at 10-year follow-up and 80% survivorship at 25-year follow-up.^1,2 A hip replacement requires strong osteointegration^3,4 to prevent femoral osteolysis, and correct implant alignment has been shown to correlate with prolonged implant survivorship and reduced dislocation.^5,6 Robotics and computer-assisted navigation have been developed to increase the accuracy of implant placement and reduce outliers with the overall goal of improving long-term results. These technologies have shown significant improvements in implant positioning when compared to conventional techniques.⁷

The first active robotic system for use in orthopedic procedures, Robodoc (Think Surgical, Inc.), was based on a traditional computer-aided design/computer-aided manufacturing system. Currently, only 3 robotic systems for THA have clearance in the US: The Mako System (Stryker), Robodoc, and TSolution One (Think Surgical, Inc.). The TSolution One system is based on the legacy technology developed as Robodoc and currently provides assistance during preparation of the femoral canal as well as guidance and positioning assistance during acetabular cup reaming and implanting. The following is a summary of the author’s (DSD) preferred technique for robotic-assisted THA using TSolution One.

How It Works

The process begins with preoperative planning (Figure 1). A computed tomography (CT) scan is used to create a detailed 3-dimensional (3D) reconstruction of the patient’s pathologic hip anatomy. The CT scan images are uploaded to TPLAN, a preoperative planning station.

In TPLAN, the user creates a 3D template of the surgical plan for both the femoral and acetabular portions of the procedure. The system has an open platform, meaning that the user is not limited to a single implant design or manufacturer. The surgeon can control every aspect of implant positioning: rotation, anteversion, fit and fill on the femoral side and anteversion, inclination/lateral opening, and depth on the acetabular side. Additional features available to the surgeon include accurately defining bony deficits, identifying outlier implant sizes, and checking for excess native version. The system allows the surgeon to determine the native center of hip rotation, which can then be used during templating to give the patient a hip that feels natural because the native muscle tension is restored. Once the desired plan has been achieved, it is uploaded to the robot.The TCAT robot is an active system similar to those used in manufacturing assembly plants (eg, automobiles) in that it follows a predetermined path and can do so in an efficient manner. More specifically, once the user has defined the patient’s anatomy within its workspace, it will proceed with actively milling the femur as planned with sub-millimeter accuracy without the use of navigation. This is in contrast to a haptic system, where the user manually guides the robotic arm within a predefined boundary.

The acetabular portion of the procedure currently uses a standard reamer system and power tools, but the TCAT guides the surgeon to the planned cup orientation, which is maintained during reaming and impaction.

In the Operating Suite

Once in the operating suite, the plan is uploaded into TCAT. Confirmation of the plan and the patient are incorporated into the surgical “time out.” Currently, the system supports patient positioning in standard lateral decubitus using a posterior approach with a standard operating room table. A posterior approach is undertaken to expose and dislocate the hip, with retractors placed to protect the soft tissues and allow the robot its working space.

One procedural difference from the standard THA technique is that the femoral head is initially retained to fixate the femur relative to the robot. A 5-mm Schanz pin is placed in the femoral head and then rigidly attached to the base of the robot. During a process called registration, a series of points on the surface of the exposed bone are collected by the surgeon via a digitizer probe attached to the robot. The TCAT monitor will guide the surgeon through point collection using a map showing the patient’s 3D bone model generated from the CT scan. The software then “finds” the patient’s femur in space and matches it to the 3D CT plan. Milling begins with a burr spinning at 80,000 rpm and saline to irrigate and remove bone debris (Figure 2). The actual milling process takes 5 to 15 minutes, depending on the choice and size of the implant.

A bone motion monitor (BMM) is also attached to the femur, along with recovery markers (RM). The BMM immediately pauses the robot during any active bone milling if it senses femoral motion from the original position. The surgeon then touches the RM with the digitizer to re-register the bone’s position and resume the milling process.