INTRODUCTION. Simulation plays an important role in surgical education and the ability to perfect surgical performance. Simulation can be enhanced by adding various layers of realism to the experience. Haptic feedback enhances the simulation experience by providing tactile responses and virtual reality imagery provides an immersive experience and allows for greater appreciation of three-dimensional structures. In this study, we present a proof-of-concept haptic simulator to replicate key steps of a cervical laminoplasty procedure. The technology uses affordable components and is easily modifiable so that it can be used from novice through to expert level. Custom models can be easily added ensuring the simulator can be used in a wide range of orthopaedic applications from baseline education through to day of surgery pre-operative simulation. METHOD. We used the Unity Game Engine, the 3D Systems “Touch” Haptic Feedback Device (HFD), and a Meta Quest VR headset. Our system uses a number of complex algorithms to track the shape and provide haptic feedback of a virtual bone model. This allows for simulation of various tools including a high-speed burr, Kerrison rongeur and intraoperative X-rays. RESULTS. Our simulator replicates the tactile sensations of bone-burring tasks. Although we focused on the cervical laminoplasty procedure, the system can load data from CT scans, enabling the simulation of multiple other procedures. The parts cost of our system, $10,000 NZD, is a fraction of the cost of traditional surgical simulators. DISCUSSION. Our simulator reduces financial barriers to accessing orthopaedic simulators. Trainees can perform hands-on practice without compromising patient safety. The immersive nature of VR, combined with realistic haptic feedback, enables trainees to develop the dexterity and three-dimensional understanding of detailed bony work. Further refinements are needed before we can perform validation studies on our system. CONCLUSIONS. We present an affordable surgical simulator capable of simulating bony surgical procedures in a VR environment using haptic feedback technology and consumer-grade components. ACKNOWLEDGEMENTS. This research was made possible by the generosity of the Wishbone Trust

Augmented reality simulators offer opportunities for practice of orthopaedic procedures outside of theatre environments. We developed an augmented reality simulator that allows trainees to practice pinning of paediatric supracondylar humeral fractures (SCHF) in a radiation-free environment at no extra risk to patients. The simulator is composed of a tangible child's elbow model, and simulated fluoroscopy on a tablet device. The treatment of these fractures is likely one of the first procedures involving X-ray guided wire insertion that trainee orthopaedic surgeons will encounter. This study aims to examine the extent of improvement simulator training provides to real-world operating theatre performance. This multi-centre study will involve four cohorts of New Zealand orthopaedic trainees in their SET1 year. Trainees with no simulator exposure in 2019 - 2021 will form the comparator cohort. Trainees in 2022 will receive additional, regular simulator training as the intervention cohort. The comparator cohort's performance in paediatric SCHF surgery will be retrospectively audited using routinely collected operative outcomes and parameters over a six-month period. The performance of the intervention cohorts will be collected in the same way over a comparable period. The data collected for both groups will be used to examine whether additional training with an augmented reality simulator shows improved real-world surgical outcomes compared to traditional surgical training. This protocol has been approved by the University of Otago Health Ethics committee, and the study is due for completion in 2024. This study is the first nation-wide transfer validity study of a surgical simulator in New Zealand. As of September 2022, all trainees in the intervention cohort have been recruited along with eight retrospective trainees via email. We present this protocol to maintain transparency of the prespecified research plans and ensure robust scientific methods. This protocol may also assist other researchers conducting similar studies within small populations

Introduction. Femoral neck impingement occurs clinically in total hip replacements (THR) when the acetabular liner articulates against the neck of a femoral stem prosthesis. This may occur in vivo due to factors such as prostheses design, patient anatomical variation, and/or surgical malpositioning, and may be linked to joint instability, unexplained pain, and dislocation. The Standard Test Method for Impingement of Acetabular Prostheses, ASTM F2582 −14, may be used to evaluate acetabular component fatigue and deformation under repeated impingement conditions. It is worth noting that while femoral neck impingement is a clinical observation, relative motions and loading conditions used in ASTM F2582-14 do not replicate in vivo mechanisms. As written, ASTM F2582-14 covers failure mechanism assessment for acetabular liners of multiple designs, materials, and sizes. This study investigates differences observed in the implied and executed kinematics described in ASTM F2582-14 using a Prosim electromechanical hip simulator (Simulation Solutions, Stockport, Greater Manchester) and an AMTI hydraulic 12-station hip simulator (AMTI, Watertown, MA). Method. Neck impingement testing per ASTM F2582-14 was carried out on four groups of artificially aged acetabular liners (per ASTM F2003-15) made from GUR 1020 UHMWPE which was re-melted and cross-linked at 7.5 Mrad. Group A (n=3) and B (n=3) consisted of 28mm diameter femoral heads articulating on 28mm ID × 44mm OD acetabular liners. Group C (n=3) and D (n=3) consisted of 40mm diameter femoral heads articulating on lipped 40mm ID × 56mm OD 10° face changing acetabular liners. All acetabular liners were tested in production equivalent shell-fixtures mounted at 0° initial inclination angle. Femoral stems were potted in resin to fit respective simulator test fixtures. Testing was conducted in bovine serum diluted to 18mg/mL protein content supplemented with sodium azide and EDTA. Groups A and C were tested on a Prosim; Groups B and D were tested on an AMTI. Physical examination and coordination measurement machine (CMM) analyses were conducted on all liners pre-test and at 0.2 million cycle intervals to monitor possible failure mechanisms. Testing was conducted for 1.0 million cycles or until failure. An Abaqus/Explicit model was created to investigate relative motions and contact areas resulting from initial impingement kinematics for each test group. Results. Effects of kinematic differences in the execution of ASTM F2582-14 were observed in the four groups based on simulator type (Figure 1) and liner design. The Abaqus/Explicit FEA model revealed notable differences in relative motions and contact points (Figure 2) between specimen components i.e. acetabular liner, femoral head, and femoral stem throughout range of motion. Acetabular liner angular change within shell-fixtures, rim deformation, crack propagation, and metal-on-metal contact between acetabular shell-fixtures and femoral stems were observed as potential failure mechanisms (Figure 3) throughout testing. These mechanisms varied in severity by group due to differing contact stresses and simulator constraints. Significance. Investigating failure mechanisms caused by altered kinematics of in-vitro neck impingement testing, due to influences of simulator type and acetabular liner design, may aid understanding of failure mechanisms involved when assessing complaints/retrievals and influence future prosthetic designs. For any figures or tables, please contact the authors directly

Background. Medical advances and an ageing population mean that more people than ever rely on artificial joints. In the past years, shoulder joint replacement has developed rapidly and the numbers of shoulder prostheses implanted increased dramatically. Wear is one of the main contributors to the failure of shoulder implants. It is therefore important to measure the wear properties of the articulating surfaces within the joint in vitro. Investigation of wear characteristics through a comprehensive range of motion using a sophisticated shoulder simulator would reveal the durability of the material, the performance of component design and the safety analyses of prostheses. The purpose of the work was to develop and validate a multi-station shoulder simulator, which could accurately simulate physiological gleno-humeral forces and displacements during activities of daily living. Materials and Methods. Imperial shoulder simulator was designed with six articulating stations and one loaded soak control station for anatomical shoulder system wear simulation. It gives an adduction-abduction (AA) range of-15° to 55°, flexion-extension (FE) range of −90° to 90° and internal external rotation (IER) range of 15° to −90°. The rotations are applied simultaneously to the humeral implants by using stepper motors with integral position encoders. Axial and shear loadings to each glenoid implant were applied using pneumatic cylinders. Force controlled translations were recorded using load cells and LVDTs, and a data acquisition system. Pneumatic cylinders were also installed to work to counterbalance weights during the motion of adduction-abduction. All bearing pairs are within isolated and sealed test chambers to prevent loss of fluid through evaporation, and cross contamination of third body wear (as recommended in F1714-96). The simulator is controlled by LabVIEW program allowing to reproduce shoulder activities of daily living. Results. A commissioning trial was conducted when shoulder implants were subject to rotational and translational motions and loading to replicate the ‘combing’ activity of daily living. The motion ranges were typically 5° to 15° in AA, 15° to 80° in FE, and −30° to −20° in IER with applied loads from 60 to 440 N, principally along the medio-lateral direction. The waveform was at frequency of 1 Hz. The activity was loaded at 250,000 cycles around 3 full days, when test and control specimens should be cleaned, measured and then re-installed into the simulator. The results from kinematic and kinetic inputs and outputs were obtained from the trial study. Discussion. A multi-station shoulder simulator was successfully developed, which is capable of reproducing typical activities of daily living by applying physiological patterns of motion and load. The performance of the simulator was validated in the commissioning trial, which leads to evaluation of novel implant designs

Spinal stenosis is a condition resulting in the compression of the neural elements due to narrowing of the spinal canal. Anatomical factors including enlargement of the facet joints, thickening of the ligaments, and bulging or collapse of the intervertebral discs contribute to the compression. Decompression surgery alleviates spinal stenosis through a laminectomy involving the resection of bone and ligament. Spinal decompression surgery requires appropriate planning and variable strategies depending on the specific situation. Given the potential for neural complications, there exist significant barriers to residents and fellows obtaining adequate experience performing spinal decompression in the operating room. Virtual teaching tools exist for learning instrumentation which can enhance the quality of orthopaedic training, building competency and procedural understanding. However, virtual simulation tools are lacking for decompression surgery. The aim of this work was to develop an open-source 3D virtual simulator as a teaching tool to improve orthopaedic training in spinal decompression. A custom step-wise spinal decompression simulator workflow was built using 3D Slicer, an open-source software development platform for medical image visualization and processing. The procedural steps include multimodal patient-specific loading and fusion of Computed Tomography (CT) and Magnetic Resonance Imaging (MRI) data, bone threshold-based segmentation, soft tissue segmentation, surgical planning, and a laminectomy and spinal decompression simulation. Fusion of CT and MRI elements was achieved using Fiducial-Based Registration which aligned the scans based on manually placed points allowing for the identification of the relative position of soft and hard tissues. Soft tissue segmentation of the spinal cord, the cerebrospinal fluid, the cauda equina, and the ligamentum flavum was performed using Simple Region Growing Segmentation (with manual adjustment allowed) involving the selection of structures on T1 and/or T2-weighted scans. A high-fidelity 3D model of the bony and soft tissue anatomy was generated with the resulting surgical exposure defined by labeled vertebrae simulating the central surgical incision. Bone and soft tissue resecting tools were developed by customizing manual 3D segmentation tools. Simulating a laminectomy was enabled through bone and ligamentum flavum resection at the site of compression. Elimination of the stenosis enabled decompression of the neural elements simulated by interpolation of the undeformed anatomy above and below the site of compression using Fill Between Slices to reestablish pre-compression neural tissue anatomy. The completed workflow allows patient specific simulation of decompression procedures by staff surgeons, fellows and residents. Qualitatively, good visualization was achieved of merged soft tissue and bony anatomy. Procedural accuracy, the design of resecting tools, and modeling of the impact of bone and ligament removal was found to adequately encompass important challenges in decompression surgery. This software development project has resulted in a well-characterized freely accessible tool for simulating spinal decompression surgery. Future work will integrate and evaluate the simulator within existing orthopaedic resident competency-based curriculum and fellowship training instruction. Best practices for effectively teaching decompression in tight areas of spinal stenosis using virtual simulation will also be investigated in future work

Background. Surgical simulators allow learner-focussed skills training, in controllable and reproducible environments suitable for assessment. Aim. To research the face validity (extent to which the simulator resembles reality, determined subjectively by subjects), and construct validity, (ability to objectively differentiate between subjects with varying levels of arthroscopic experience) of a virtual reality arthroscopy simulator, to validate its effectiveness as an educational tool. Methods. Using the simulator insightArthroVR®, 37 subjects were required to perform diagnostic knee arthroscopy, palpate anatomical landmarks and complete questionnaires. The simulator recorded objective data to assess proficiency: time to complete tasks, roughness in instrument handling, and path length covered by the arthroscope and palpation probe. Results. The simulator succeeded in proving face validity: 86.4% participants agreed the simulator provided insight into arthroscopy. Training met the expectations of 91.3% and showed improvement in novices in simulated diagnostic arthroscopy in completion time (p-value=0.036), roughness (p-value=0.026), and path length covered by the arthroscope (p-value=0.008). Furthermore, the simulator was able to discriminate between experts, intermediates and novices, proving construct validity: time of completion (p-value=0.009), the path length covered by the arthroscope (p-value=0.02) and the probe (p-value=0.028). Conclusions. Results demonstrate the simulator succeeds in emulating real arthroscopy and can discriminate between subjects according to arthroscopic experience, proving face and construct validity. Further research on transfer of skills to the operating room needs to be done. With surgery constantly modernising and increasing time constraints with the EWTD, training must be efficient and assessable without compromising patient safety. Simulators could allow trainees earlier exposure to procedures, a wider range of pathologies in a compressed period, practice outside the OR, and an acceleration of the learning curve. This study has taken a step forward in validating a VR simulator and thus a step towards the future of simulation becoming an indispensable adjunct to surgical training

We have developed a novel knee simulator that reproduces the active knee motion to evaluate kinematics and joint reaction forces of TKA. There have been developed many kinds of knee simulators; Most of them are to predict TKA component wear and the others are to evaluate the kinematics and/or kinetics of TKA. The most simulators have been operated using the data of the loading and kinematics profile of the knee obtained from normal gait. Here a problem is that such variables as joint force and kinematics are the outcome caused by the application of muscles' and external forces. If so, a simulator should be operated by the muscles' and external forces so as to duplicate the in vivo condition. Other disadvantages for the current knee simulators are; a knee joint motion is made passively, the effects of the hip joint motion are not taken into account, and the maximum flexion angle is usually limited at about 100°. Considering the above, we have developed a knee simulator with the following advantages and innovative features. First, the simulator is driven by the muscles' forces and an active knee motion is made with bearing the upper body weight. As a result, the knee shows a 3D kinematics and generates the tibio-femoral contact forces. Under this condition, the TKA performance is to be assessed. Secondly, a hip joint mechanism is also incorporated into the simulator. The lower limb motion is achieved by the synergistic function between the hip and knee joints. Under this condition, a natural knee motion is to be reproduced. Thirdly, the simulator can make complete deep knee flexion up to 180°. Thus not only the conventional TKA but also a new TKA for high flexion can be attached to it for the evaluation. Figure 1 shows the structure of the simulator, in which both the hip and knee joints are moved in a synergistic fashion by the pull forces of four wires. The four wires are pulled by the four servomotors respectively and reproduce the functions of the mono-articular muscles ((1), (3)) and the bi-articular muscles ((2), (4)) through the multiple pulley system. It should be noted that weight A and B are not heavy enough for the inverted double pendulum to stand up straight. They are applied as counter weights so that each segment duplicate the each segmental weight of the human lower limb. Figure 2 shows a sequential representation of stand to sit features: (a) at standing, (b) at high flexion, and (c) at deep flexion. At a state of 130° knee flexion between (b) and (c), hamstrings wire (4) becomes shortest and then exhibits an eccentric contraction, thereby attaining deep flexion. Our knee simulator can be a useful tool for the evaluation of TKA performance and may potentially substitute the in vivo experiments

One of the main concerns about the currently available simulators is that the TKA is driven in a “passive way” for assessment. For the simulators for the wear assessment, the tibio-femoral relative motion is automatically made by using the knee kinematics and loading profile of a normal gait. As for the simulators for the kinematics and kinetics assessment of TKA, also the predicted loading profiles introduced from the theoretical model are applied as the input data to drive the simulator. It should be noted that the human joints are driven by the muscles' forces and external loads, and their kinematics and kinetics are the “outcome”. This being so, the knee simulator should be driven by the muscles' forces and upon these conditions the TKA performance is to be assessed. Some other concerns about the current simulations are as follows. The effects of hip joint motion are not taken into account. The upper body weight is applied along a vertical rod in such a way as a crank-slider. Furthermore, few simulators are capable of knee flexion greater than about 110°. Considering the above, we have developed a novel knee simulator which makes it possible to reproduce the active and natural knee motion to assess kinematics and kinetics of TKA. In the experiment, the custom-designed PS type TKA was attached and the simulator was operated so as to reproduce the sit-to-stand features, thereby introducing the tibio-femoral loading profiles during the motion. Figure 1 illustrates the external appearances of the simulator and a close view of the knee joint compartment. Since our simulator is composed of a multiple inverted pendulum, the knee part bears the upper body weight in a physiological way. The holder bracket is set to prevent the simulator from collapsing for security. The dimension and weight of each link were set as close as those of each segment of a normal male subject. Our simulator is driven by the wire pull mechanism which substitutes the human musculo-skeletal system of lower limb. Figure 2 shows close views of tibial tray with load cells. In Fig.2a, cell FR, FC and FL are to measure the tangential components of tibio-femoral contact force, i.e., the Anterio-Posterior force (AP force). The rest five cells are to measure the normal components of tibio-femoral contact force (normal force). As shown in Fig.2c, the tibial insert of TKA is mounted on the lid of the tibial tray box. In the experiment, a PS type TKA whose maximum flexion angle of 150° was attached to the simulator for evaluation. The simulator was operated so as to reproduce the sit-to-stand features and the data concerning about the AP force, Ft, and the normal force, Fn were recorded. Figure 3 shows the variations of knee flexion angles and knee contact forces respectively as a function of normalized time. Our knee simulator may have a potential for substituting the in vivo measurement

Introduction. Hip simulators proved to be valuable, pre-clinical tests for assessing wear. Preferred implant positioning has been with cup mounted above head, i.e. ‘Anatomical’ (Figs. 1a-c) . 1,2. while the ‘Inverted’ test (cup below head) was typically preferred in debris studies (Figs. 1d-f). 3,4. In an Anatomical study, wear patterns on cups and heads averaged 442 and 1668 mm² area, respectively, representing 8% and 30% of available hemi-surface (Table 1), i.e. the head pattern was ×3.8 times larger than cup. This concept of wear patterns is illustrated well in the ‘pin-on-disk’ test (Fig. 1) in which the oscillating pin has the ‘contained’ wear area (CWP) and the large wear track on the disk is the ‘distributed’ pattern (DWP). Hip simulators also create CWP and DWP patterns, site dependant on whether Anatomical (Fig. 1a-c) or ‘Inverted’ (Fig. 1d-f) test. However there is scant foundation as to clinical merits of either test mode. Retrieval studies of MOM bearings have indicated that cups have the larger wear patterns, i.e. contrary to simulator tests running Anatomical cups (Table 1). 5. Therefore we compared Anatomical and Inverted cup modes using 38mm and 40mm MOM in two 5-million cycle simulator studies. Methods. 38mm and 40mm MOM bearings were run in Anatomical mode (study-1) and Inverted (study-2) mode, respectively, in a hip simulator. Lubricant was bovine serum diluted to provide protein concentration 17 mg/ml. Wear was measured gravimetrically and wear-rates calculated by linear regression. Wear patterns were assessed by stereomicroscopy and compared to algorithms using standard spherical equations. Results. MOM wear-rates ranged 0.3 to 6 mm³/Mc by 5-million cycles duration. Contained wear patterns (CWP) averaged 410 mm² for cups in study-1 (Anatomical) and 397 mm² for heads in study-2 (Fig. 3: Inverted). Distributed wear patterns (DWP) averaged 945mm² in study-1 (heads, Anatomical) and 846mm² in study-2 (cups, Inverted). Cup Hemi-ratios averaged 18% and 38% in studies 1 and 2 respectively (Table 2). Discussion. While vendor, implant and experimental differences were clearly present, study-1 (Anatomical) and study-2 (Inverted) produced almost identical CWP and DWP wear patterns, only reversed on heads versus cups. This unequivocal evidence demonstrated that there was no difference in wear mechanics for spherical CoCr bearings run in either test mode. In addition, wear patterns observed in MOM cup retrievals. 5. (1000–2700 mm²) were much larger than produced in Anatomical simulator tests (Fig. 2h: 400–500 mm²). Such large discrepancies in cup wear patterns between Anatomical simulator tests and retrieved MOM cups indicated that the Inverted cup mode (Fig. 2g) may be more clinically relevant

There are several concerns about the current simulators for TKA. First, the knee is flexed in a “passive way” under the condition of applying constant muscular tension forces. Second, the effects of hip joint motion are not taken into account. Thirdly, the external load for example, upper body weight is not applied in a natural way. Finally, few simulators are capable of knee flexion greater than about 100°. To this end, we have developed a novel knee simulator system that reproduces the active and natural knee motion to evaluate kinematics and joint forces of TKA. Our simulator system has the following advantages and innovative features. First, it is driven directly by muscles' tension forces, and the knee is capable of active flexion. Secondly, a hip joint is incorporated into it and the lower limb motion is achieved in a synergistic way between the hip and knee joints. Thirdly, it is capable of complete deep knee flexion up to 180°. Figure 1 shows the structure of the system. Both the hip and knee joints are moved by the tension forces of four wires that simulate the functions of the mono-articular muscles ((1), (3)) and the bi-articular muscles ((2), (4)) by means of a multiple pulley system (Fig 2). The femoral and tibial components of TKA are secured in the distal end of the upper link (thigh) and the proximal end of the lower link (shank) respectively. The ankle assembly has three sets of rotary bearings whose axes intersect at a fixed point, the center of the ankle, allowing spherical movement of the tibia about the ankle center. Springs were stretched around the ankle center to substitute the muscles around the ankle. Weights I and II are counterweights so as to duplicate the weights of the human upper body, thigh and shank respectively. The wires are pulled to produce the hip and knee motions. The linear bearings running along vertical rods also prevent the system from collapsing. In the experiment, a custom-designed posterior stabilized type TKA was attached to the simulator system for evaluation. The system was operated so as to reproduce the sit-to-stand features in a quasi-static manner in order to study the kinematics of TKA. Beyond 130°, the knee proceeded to flex passively because of upper body weight. Conspicuous internal/external rotation or valgus/varus motion of the tibia relative to the femur was not observed as the knee flexed. When our simulator system was driven in a quasi-static manner, it was able to measure the kinematics of TKA however, when the system was driven in a dynamic manner, it oscillated because the springs around the ankle were not stiff enough to hold the inverted pendulum-like system upright and the ratios of the tension force exerted by the four wires simulating muscles could not be determined appropriately

Introduction. For the evaluation of new orthopaedic implants, cadaveric testing remains an attractive solution. However, prior to cadaveric testing, the performance of an implant can be evaluated using numerical simulations. These simulations can provide insight in the kinematics and contact forces associated with a specific implant design and/or positioning. Methods. Both a two and three dimensional simulation model have been created using the AnyBody Modelling System (AMS). In the two dimensional model, the knee joint is represented by a hinge. Similarly, the ankle and hip joint are represented by a hinge joint and a variable amplitude quadriceps force is applied to a rigid bar connected to the tibia (Figure 1a). In line with this simulation model, a hinge model was created that could be mounted in the UGent knee simulator to evaluate the performance of the simulated model. The hinge model thereby performs a cyclic motion under varying quadriceps load while recording the ankle reaction forces. In addition to the two dimensional model, a three dimensional model has been developed (Figure 1b). More specifically, a model is built of a sawbone leg holding a posterior stabilized single radius total knee implant. The physical sawbone model contains simplified medial and lateral collateral ligaments. In line with the boundary conditions of the UGent knee simulator, the simulated hip contains a single rotational degree of freedom and the ankle holds four degrees of freedom (three rotations, single translation). In the simulations, the knee is modelled using the force-dependent kinematics (FDK) method built in the AMS. This leaves the knee with six degrees of freedom that are controlled by the ligament tension in combination with the applied quadriceps load and shape of the implant. The physical sawbone model goes through five cycles in the UGent simulator using while recording the kinematics of the femur and tibia using a set of markers rigidly attached to the femur and tibia bone. The position of the implant with respect to the markers was evaluated by CT-scanning the sawbone model. Results and Discussion. In a first step, the reaction forces at the ankle in the 2D model were evaluated. The difference between the simulated and measured reaction force is limited and can be explained from a slight variation of the attachment point of the quadriceps load. For the 3D model, the kinematic patterns have been evaluated for both the simulation and physical model using Grood & Suntay definitions. The kinematic parameters display realistic trends, however, no exact match has been obtained for all parameters so far. The latter might be attributed to a number of simplifications in the simulation model as well as elastic deformation of the physical sawbone model. Conclusion. A three dimensional model of a knee implant in the UGent Knee Simulator has been developed. The simulated kinematic patterns appear realistic though no exact match with the measured patterns has been obtained. Future research will therefore focus on the development of a more realistic experimental and numerical model

Introduction. Junior level orthopaedic surgery residents who train with a virtual surgical simulator can lead to improved arthroscopy performance. Methods. Study participants were first and second year orthopaedic surgery residents at a single institution who were randomized to either train on the virtual reality surgical simulator (Insight Arthro VR) for a total of 2.5 hours (n=8) or receive 2 hours of didactic lectures with models (non-simulator) (n=6). Both groups were then evaluated in both knee and shoulder arthroscopy using a cadaver. Performance was measured by time to completion of a standardized protocol checklist and cartilage-grading index (CGI) (scale 0–10). Results. All subjects had no previous arthroscopy experience prior to the study. The simulator group had a shorter time to completion in both knee (simulator: 5.1 ± 1.8 min, non-simulator: 8.0 ± 4.4 min; p=0.09) and shoulder (simulator: 6.1 ± 1.5 min, non-simulator: 9.9 ± 3.2 min; p=0.02) arthroscopy. Similarly, the simulator group had improved CGI scores in both the knee (simulator: 4.0 ± 1.1, non-simulator: 5.3 ± 1.5; p=0.07) and shoulder (simulator: 3.4 ± 0.8, non-simulator: 5.5 ± 1.6; p=0.008) arthroscopy. Discussion and Conclusion. This study suggests that surgical simulators are beneficial in arthroscopy skills development for orthopaedic surgery residents

Introduction. Edge loading in acetabular hip implants is generally due to mal-orientation or low tissue tension. It is known that edge loading of metal-on-metal THA may lead to higher metal wear and ion release with corresponding adverse body reactions. The inclination angle of the acetabular cup has been positively correlated with the wear rate of explanted components . 1. However, no data published is known about wear rates of edge loaded hard – soft hip bearings. Methods. For the hip simulator study, seleXys cup inlays, size 28/EE, (Mathys Ltd Bettlach, Switzerland) were used. Standard PE parts and vitamys® inlays (highly cross-linked, vitamin E stabilised UHMWPE) were tested in the same run. PE inlays were machined out of sintered GUR 1020 slabs, packaged and gamma-sterilised in inert atmosphere at 30 kGy. The vitamys® material was made in-house by adding 0.1 wt.-% of vitamin E to GUR 1020 powder from Ticona GmbH, Kelsterbach/Germany. Cross-linking used 100 (±10) kGy gamma-irradiation and the final sterilisation was gas plasma. Cup inclination was varied: besides the protocol of ISO 14242-1 with an inclination angle corresponding to 45 ° in the medial-lateral plane, a steep cup position corresponding to 75 ° was tested, too. To our knowledge, this is the highest inclination angle ever tested in a hip simulator. The testing was conducted in a servo-hydraulic six-station hip simulator (Endolab, Thansau/Rosenheim, Germany) at a temperature of 37±1°C. Tests were run at the RMS Foundation (Bettlach / Switzerland) for five million cycles. The test fluid was based on bovine serum diluted to a protein concentration of 30 g/l and stabilised with sodium azide and EDTA. At lubricant change interval of 500,000 cycles, the inlays were measured gravimetrically with an accuracy of 0.01 mg. Results. The wear rate of the standard UHMWPE inlays tested with an inclination of 75° was 16% lower than those of the inlays with 45 ° inclination. For the vitamys® inlays, wear rates were about the same for both inclination angles (cf. Figure 1). After the test, the 75 ° inlays were polished tribologically on the caudal wall of the inlays while on the pole the tool-marks were still present (Figure 2, vitamys®). The polished surface of the 45 ° inclination samples was lager and covered about 2/3 of the articulation surface (vitamys®, Figure 3) or almost the whole articulation (standard PE). Hence, the hard – soft bearings tested showed no significant effect of inclination angle on the wear rate. This is true for a position as steep as 75 °, just before subluxation would occur. Conclusions. Based on the present hip simulator study, it seems that metal-on-polyethylene bearings are exempt of accelerated wear rate when subjected to edge loading conditions. Using the newest generation of HXLPE, stabilised with vitamin E, combines superior oxidation resistance . 2. , low wear and highest forgiveness for component mal-orientation

Retrieval studies of metal-on-metal (MOM) resurfaced hips revealed cup “edge wear” as a common failure mechanism [Morlock-2008]. Retrieval analysis of total hip arthroplasty (THA) also demonstrated extensive rim wear (Fig. 1: 190–220o arcs), typically across the superior cup [Clarke-2013]. Such wear patterns have not been demonstrated in hip simulator studies. The simulator “steep cup” models typically had motion arcs (flexion, etc.) input via the femoral head [Leslie-2008, Angadji-2009]. With fixed-inclination cups this produces constant loading of cup rim against the head (Fig. 2a). This is unlikely to be the physiological norm, unless patients walk constantly on the rims of mal-positioned cups. More likely the patients produce edge-wear intermittently due to functional and postural variations. Therefore a novel simulator model is proposed in which the cup undergoes edge-wear intermittently at one extreme of flexion (Fig. 2a). Our study objective using this new simulator model (Fig. 2a, b) was to (i) demonstrate MOM wear-rates and wear patches as a function of these dynamic-inclinations (40 o, 50 o, 70o), and (ii) compare the simulator data to MOM retrievals (Fig. 1). Two simulator studies were run, both using 60mm MOM. Four bearings were run to 1-million cycles (1Mc) with cups peaking at 40 and 50° dynamic-inclinations, thus providing control data with no edge-wear. In 2nd study, 4 MOM were run with cups given a dynamic-inclination of 70° to produce edge-wear effects. In study-2 currently at 2.5Mc duration, the femoral heads showed the two classical wear phases with run-in at 1.7mm³/Mc and steady-state at 0.084mm³/Mc (Fig. 3a). Wear-rate for cups at 2.34mm³/Mc was 40% higher than heads and continued to rise linearly with time (Fig. 3a). At 2.5Mc, cup wear averaged ×5.7 greater than heads and resulting wear-patterns extended 85°−225° around cup rim (Fig. 3b: average 151°). In study-1, wear patches in cups with 40° dynamic-inclination approached within 12.4mm of the cup rim as denoted by circumferential grooves. This margin-of-safety (MOS) represented a 24°angle. The cup wear-patch averaged area of 1,760mm2. With cups run at 70o dynamic-inclination, the wear patches were transferred an additional 30o towards the rim thereby representing a 6° transfer across the rim. This is the 1st wear study to use the new dynamic-inclination test mode to better simulate cup function in vivo. It was particularly satisfying to see the similarity in wear-patterns between retrieval (Fig. 1) and simulator cups (Fig. 3b). It is also the 1st study to monitor sites and magnitudes of cup wear areas and to purposely produce “edge wear”. The cups with 40° and 50° dynamic-inclinations had large margins of safety. With 70° dynamic-inclination the margin of safety was lost - effectively there was a 6° transfer of the wear patch across the cup rim. Even this apparently small effect at one location in each gait cycle sufficiently perturbed MOM performance that wear increased by an order of magnitude. Notably this was all cup wear and not by femoral head participation. The study continues but at 2.5Mc duration the cups revealed 5-fold greater wear than heads

The MOM controversy continues with many prevailing opinions as to the causes of failure in contemporary designs. There has been a great deal of focus on breakdown in fluid-film lubrication with respect to cup positioning and edge wear at its rim. However there has been very little discussion on the problems of 3. rd. body abrasion. In only one study was there a description of unusually large abrasive marks on retrieved femoral heads (McKee Farrar MOM), revealing 100 μm wide scratches, attributed to circulating particles fractured during impingement episodes. With contemporary MOM devices, there is the potential for abrasion by particulates of CoCr, PMMA and Ti6Al4V. However it has been difficult to formulate a coherent simulator model for 3. rd. -body abrasive wear, given the unpredictable nature of impingement damage releasing abrasive particles into the patient's hip joint. Thus this study sought to identify if metal or cement particulates were capable of creating 100 μm wide scratches as seen on retrieved MOM and develop a simulator model for 3. rd. body abrasive testing on MOM bearings. Six 38 mm CoCrMo bearings (DJO Inc., Texas) were run in a12-station hip simulator (SWM, Monrovia, CA) with cups mounted both anatomically and inverted (3 MOM each). The tests were run in standard simulator mode (Paul gait load cycle: 0.2–2 kN, frequency 1 Hz) with the addition of 5 mg of debris particles. Commercially available CoCr (ASTM F75) and titanium alloy (ASTM F136) particles and broken polymerized bone cement particles were used in the size range 50–200 μm. The simulator was run for only 10 cycles and the MOM parts removed for study. All bearings were ultrasonically cleaned and heads were examined using white light interferometry (WLI, Zygo Corp). Grooves were characterized using surface profiles to measure width, depth, and rim height. SEM imaging (EVO MA15, Zeiss) and EDS imaging (X flash detector 4010, Bruker AXS) was performed in areas of grooving and suspected transfer layers. CoCr debris produced broad, curvilinear grooves with widths ranging from 20–170 μm, depths from 0.3–1.5 μm, raised rims, longitudinal striations and chatter marks. Titanium alloy debris produced arrays of very shallow scratches accompanying larger grooves. These larger grooves measured 20–110 μm wide and 0.4–1.9 μm deep. EDS imaging showed the smears and islands contained the elements Ti, Al and V representative of the Ti6Al4V alloy. WLI imaging showed these metal deposits (250–900 um wide) were raised >10 um above the surface. Particularly conspicuous was evidence of considerable smearing on CoCr surfaces, with linear streaks ranging 150–300 μm wide. Bone cement debris proved incapable of grooving the CoCr surface, the only scratches observed were those comparable to normal carbide scratches

Introduction. Osteolysis and aseptic loosening in total hip replacement (THR) is often associated with polyethylene (PE) wear. This caused interest in alternative bearing surfaces. Since the mid nineties, research focused on hard-hard bearings like metal-on-metal (MOM) or ceramic-on-ceramic (COC). However, concerns remain about biological reactions to metallic wear debris or failure of the ceramic components. A new approach to reduce wear with a minimized risk of failure may be the use of a metallic cup in combination with a ceramic head, the so called ceramic-on-metal bearing (COM). The aim of this study was to estimate the wear behaviour at an early stage of this COM bearing type in comparison to COC bearings using a hip simulator. Material and Methods. Simulator studies were carried out on a single station hip simulator (MTS 858 Mini Bionix II, Eden Prairie, USA) in accordance to ISO 14242-1. Bovine serum was used as the test medium. Four COM and four COC bearings were used, both 36mm in diameter. The heads were made of a mixed-oxid ceramic (Biolox Delta(r)) paired with a high carbon wrought CoCrMo cup in the COM group whereas both components were made of Biolox Delta(r) in the COC group. Simulation was run to a total of 2.4×10. 6. cycles. Wear measurements were performed in intervals of 0.2x10. 6. cycles using a gravimetric method (Sartorius Genius ME235S, measuring solution: 15 μg, Sartorius, Göttingen, Germany). Results. Wear of the COM and COC pairings is shown in Figure 1. During the first 200,000 cycles a mean wear rate of 0.16mm. 3. /10. 6. cycles was found followed by a decreased wear rate of 0.04mm. 3. /10. 6. cycles for the COC bearings. The overall wear ranged from 0.08mm. 3. to 0.17mm. 3. , with a mean of 0.12 mm. 3. There was found a high variability in the wear progression between the four COM implants (Figure 1). A mean wear rate of 0.13mm. 3. /10. 6. cycles was determined during the first 200,000 cycles followed by a decreased wear rate of 0.05mm. 3. /10. 6. cycles. The overall wear of the COM implants ranged from 0.02mm. 3. to 0.21mm. 3. , with a mean of 0.13 mm. 3. All ceramic heads from the COM bearings showed metallic material transfer in form of stripes whereas no visible wear traces were found on the COC heads. Discussion and Conclusion. The COM implants showed very low wear levels that were similar to the COC bearings and far below wear levels of conventional MOM bearings. However, there was a spreading up to the thirteen fold between lowest and highest wear volume of the COM at the end of the study. Concerning COM implants such high variability was also seen by other investigators. The simulator conditions are highly reproducible (as seen for the COC bearings). Considering the high variations in patients demand, the influence of patient related activity parameters should be further investigated in terms of wear. Moreover, this study was performed without implementing subluxation, impingement or malalignment which might also increase wear. These effects together with the influence of third body wear needs to be further considered

Use of “CPR” distance has proven clinical utility in stratifying risks of “steep cups” in MOM failures.[1, 4] The CPR indice has been defined as distance between point of intersection of the hip reaction force (Fig. 1: vector-R in contact patch) and closest point on the inner cup rim.[4] However, the CPR indice has limitations. It assumes that, (1) the hip load-vector (R) will be angled 10°-medial in all patients, (2) the contact patch will be same size in all patients, and (3) the contact patch will be invariant with increasing MOM diameter. In contrast it is known from retrieval studies that larger MOM bearings created much larger wear patches.[3] Furthermore, the size of cup wear-patches in MOM bearings can now be estimated with some certainty using simulator wear data.[2] Our objective was to develop an algorithm that would predict (i) contact-patch size for all cup designs and diameters, (ii) determine actual margin of safety (Fig. 1: MOS) for different laterally-inclined cups, and (iii) predict critical test angles for “steep” cup studies in hip simulators. The ‘CPR-distance’ (Fig. 1) is subtended by the CPA angle, but the true margin of safety is the distance from edge of wear patch to cup rim, indicated here by MOS angle. In this algorithm the wear-patch size (CAP angle) is a key parameter, as derived from MOM wear data (Fig. 2). The CAP angles decrease with increasing MOM diameter, as defined by strong linear trend (R=0.998). The key 2nd parameter is cup inclination angle that juxtaposes the wear-pattern to the cup rim (CCI). For hemispherical cups the critical inclination is given by CCI = 90 – CAP/2, where articulation angle ABA = 180o. The cup bearing-surface is typically reduced < 180o(sub-hemispherical profile, instrumentation groove, rim bevel, etc). These effects are grouped under ‘rim-detail’, as defined by RD = (180-ABA)/2 (Fig. 1). Thus critical inclination any cup is given by CCI = 90o – (CAP/2) – RD = (ABA – CAP)/2. The margin-of-safety (Fig. 1) is then represented by the equation MOS = 100 – (CIA + CAP/2 + RD). Applicability of the new algorithm can be visualized with a 48mm MOM (cup ABA=160o) run in a standard simulator test (Fig. 3). The algorithm predicts that with cup at 40o inclination there is good margin of safety (11.8o), representing a 5mm distance. This would become much reduced at CIA = 50o, while true edge-wear appears at the 60o test inclination (Fig. 3. EW = −8.2o). For clinical comparison with ‘CPR-distances’, the algorithm shows that positioning the wear patch 10o-medial (Figs. 1, 3) has margin of safety averaging 11.5 mm (MOS) less than was predicted by the CPR indice. While CPR has shown clinical utility, it is believed that compensating for actual size of cup wear-patterns provides a more realistic risk assessment for different MOM diameters in different cup positions. Thus the new algorithm permits accurate depiction of cup wear-patterns for use in both clinical and simulator studies

Joint assessment through manual physical examination is a fundamental skill that must be acquired by orthopaedic surgeons. These joint assessments allow surgeons to identify soft tissue injuries (e.g. ligament tears) which are critical in identifying appropriate treatment options. The difficulty in communicating the feeling of different joint conditions and the limited opportunities for practice can make these skills challenging to learn, resulting in reduced treatment effectiveness and increased costs. This research seeks to improve the training of joint assessment with the creation of a haptic joint simulator that can train surgeons with increased effectiveness. A first of its kind haptic simulator is presented, which incorporates: a newly defined kinetic knee simulation, a haptic device for user interaction, and a haptic control algorithm. The knee model has been specifically created for this application and allows six degree-of-freedom manipulation of the tibia while considering the effects of ten knee ligament bundles. The model has been mathematically formulated to allow for the high update rates necessary for smooth and stable haptic simulation. Two quantitative assessments were made of the model to confirm its clinical validity. The first was against the widely used OpenSim biomechanical simulation software. Simulations of the model's performance for both anterior-posterior draw tests and varus-valgus rotation tests showed less than 0.7%RMSE for force and 5.5%RMSE for moments. Crucially, the proposed model could generate updated forces in less than 1ms, compared to 188ms for OpenSim. The second validation of the model was against a cadaveric knee that was tested using a validated robotic testing platform. This comparison showed that the model could generate similar force- motion pathways to the cadaveric knee after the model's parameters were scaled to match. Having demonstrated that it is possible to create a computational knee model that has good conformance to gold-standard knee simulations and cadaveric recordings, while updating at less than 1ms, this research has overcome a major hurdle. The next stage of this research will be to incorporate the knee model into a full haptic simulator and perform skill acquisition trials. Given the effectiveness of past haptic training systems in aiding clinical skills acquisition, this research offers a promising way to improve surgeon training, and therefore also patient diagnosis and treatment

Background. When reversing the hard-soft articulation in inverse shoulder replacement, i.e. hard inlay and soft glenosphere (cf. Figure 1), the tribological behaviour of such a pairing has to be tested thoroughly. Therefore, two hard materials for the inlay, CoCr alloy and alumina toughened zirconia ceramic (ceramys®) articulating on two soft materials, conventional UHMWPE and vitamin E stabilised, highly cross-linked PE (vitamys®) were tested in a joint simulator. Methods. The simulator tests were performed at Endolab GmbH, Rosenheim, Germany, analogue to standardised gravimetric wear tests for hip prosthesis (ISO 14242-1) with load and motion curves adapted to the shoulder. The test parameters differing from the standard were the maximum force (1.0 kN) and the range of motion. A servo-hydraulic six station joint simulator (EndoLab) was used to run the tests up to 5*106 cycles with diluted calf serum at 37° C as lubricant. Visual inspection and mass measurements were done at 0.1, 0.5, 1, 2, 3, 4 and 5 million cycles using a high precision scale and a stereo microscope, respectivly. Results. The wear rates measured in the simulator are summarised in the table below and illustrated in Figure 2. The simulator wear rate of the standard articulation CoCr – UHMWPE is similar to that found in the corresponding pairing for hip endoprosthesis, although the articulation diameter of the glenospheres tested is larger (42 mm compared to 28 – 32 mm in hip joints). Replacing UHMWPE by the cross-linked vitamys®, the wear rate is reduced to about 1/3 for both hard counterparts, CoCr and ceramys®, respectively. Replacing the CoCr inlay by a part made from ceramys® lowers wear by about 37 % in articulation against UHMWPE. This difference is significant (p = 0.002, significance level 5 %). And comparing CoCr and ceramys® against vitamys®, yields a reduction of about 44 %. Which is significant again (p = 0.015, significance level 5 %). The lowest wear rate, with a reduction of about 80 % compared to the standard CoCr – UHMWPE, exhibits the pairing of both advanced materials, ceramys® – vitamys®. Conclusions. Long-term clinical follow-up will confirm if this in-vitro wear reduction leads to longer in-vivo survival of reverse total shoulder arthroplasty. Such a study is under ethic approval, currently. However, the ceramys® inlay offers the benefits of a nickel free inverse shoulder replacement with less x-ray opacity, compared to CoCr. To view tables/figures, please contact authors directly

Introduction. Metal-on-polyethylene (MoP) is the most commonly used bearing couple in total hip replacements (THRs). Retrieval studies (Cooper et al, 2012, JBJS, Lindgren et al, 2011, JBJS) report adverse reactions to metal debris (ARMD) due to debris produced from the taper-trunnion junction of the modular MoP THRs. A recent retrospective observational study (Matharu et al, 2016, BMC Musc Dis) showed that the risk of ARMD revision surgery is increasing in MoP THRs. To the authors' best knowledge, no hip simulator tests have investigated material loss from the taper-trunnion junction of contemporary MoP THRs. Methods. A 6-station anatomical hip joint simulator was used to investigate material loss at the articulating and taper-trunnion surfaces of 32mm diameter metal-on-cross-linked polyethylene (MoXLPE) joints for 5 million cycles (Mc) with a sixth joint serving as a dynamically loaded soak control. Commercially available cobalt-chromium-molybdenum (CoCrMo) femoral heads articulating against XLPE acetabular liners (7.5Mrad) were used with a diluted new-born-calf-serum lubricant. Each CoCrMo femoral head was mounted on a 12/14 titanium alloy trunnion. The test was stopped every 0.5Mc, components were cleaned and gravimetric measurements performed following ISO 14242-2 and the lubricant was changed. Weight loss (mg) obtained from gravimetric measurements was converted into volume loss (mm. 3. ) and wear rates were calculated from the slopes of the linear regression lines in the volumetric loss versus number of cycles plot for heads, liners and trunnions. Additionally, volumetric measurements of the head tapers were obtained using a coordinate measuring machine (CMM) post-test. The surface roughness (Sa) of all heads and liners was measured pre and post-test. At the end of the test, the femoral heads were cut and the roughness of the worn and unworn area was measured. Statistical analysis was performed using a paired-t-test (for roughness measurements) and an independent sample t-test (for wear rates). Results and Discussion. The mean volumetric wear rates for CoCrMo heads, XLPE liners and titanium trunnions were 0.019, 2.74 and 0.013 mm. 3. /Mc respectively. There was a statistically significant decrease (p<0.001) in the Sa of the liners post-test. This is in contrast to the femoral heads roughness in which no change was observed (p = 0.338). This head roughness result matches with a previous MoP in vitro test (Saikko, 2005, IMechE-H). The Sa of the head tapers on the worn area showed a statistically significant increase (p<0.001) compared with unworn, with an associated removal of the original machining marks. The mean volumetric wear rate of the head tapers obtained using the CMM (0.028 ± 0.016 mm. 3. /Mc) was not statistically different (p=0.435) to the mean volumetric wear rate obtained gravimetrically (0.019 ± 0.020 mm. 3. /Mc) for the femoral heads. Therefore, wear of the heads arose mainly from the internal taper. The mean wear rates of the CoCrMo taper and titanium trunnion are in agreement with a MoP explant study (Kocagoz et al, 2016, CORR). Conclusion. This is the first long-term hip simulator study to report wear generated from the taper-trunnion junction of MoP hips