Computer-Assisted Screw Size and Insertion Trajectory Planning for Pedicle Screw Placement Surgery

Pathological conditions that cause instability of the spine are commonly treated by vertebral fixation involving pedicle screw placement surgery. However, existing methods for preoperative planning are based only on geometrical properties of vertebral structures (i.e., shape) without taking into account their structural properties (i.e., appearance). We propose a novel automated method for computer-assisted preoperative planning of the thoracic pedicle screw size and insertion trajectory. The proposed method extracts geometrical properties of vertebral structures by parametric modeling of vertebral bodies and pedicles in three dimensions (3D), and combines them with structural properties, evaluated through underlying image intensities in computed tomography (CT) images while considering the guidelines for pedicle screw design. The method was evaluated on 81 pedicles, obtained from 3D CT images of 11 patients that were appointed for pedicle screw placement surgery. In terms of mean absolute difference (MAD) and corresponding standard deviation (SD), the resulting high modeling accuracy of 0.39 +/- 0.31 mm for 3D vertebral body models and 0.31 +/- 0.25 mm for 3D pedicle models created an adequate anatomical frame for 3D pedicle screw models. When comparing the automatically obtained and manually defined plans for pedicle screw placement, a relatively high agreement was observed, with MAD SD of 0.4 +/- 0.4 mm for the screw diameter, 5.8 +/- 4.2 mm for the screw length, 2.0 +/- 1.4 mm for the pedicle crossing point and 7.6 +/- 5.8 for screw insertion angles. However, a statistically significant increase of 48 +/- 26% in the screw fastening strength in favor of the proposed automated method was observed in 99% of the cases.