Developing robotic tools that introduce substantial changes in the surgical workflow is challenging because quantitative requirements are missing. Experiments on cadavers can provide valuable information to derive workspace requirements, tool size, and surgical workflow. This work aimed to quantify the volume inside the knee joint available for manipulation of minimally invasive robotic surgical tools. In particular, we aim to develop a novel procedure for minimally invasive unicompartmental knee arthroplasty (UKA) using a robotic laser-cutting tool. Methods: Contrast solution was injected into nine cadaveric knees and computed tomography scans were performed to evaluate the tool manipulation volume inside the knee joints. The volume and distribution of the contrast solution inside the knee joints were analyzed with respect to the femur, tibia, and the anatomical locations that need to be reached by a laser-cutting tool to perform bone resection for a standard UKA implant. Results: Quantitative information was determined about the tool manipulation volume inside these nine knee joints and its distribution around the cutting lines required for a standard implant. Conclusion: Based on the volume distribution, we could suggest a possible workflow for minimally invasive UKA, which provides a large manipulation volume, and deducted that for the proposed workflow, an instrument with a thickness of 5-8 mm should be feasible. Significance: We present quantitative information on the three-dimensional distribution of the maximally available volume inside the knee joint. Such quantitative information lays the basis for developing surgical tools that introduce substantial changes in the surgical workflow.

ObjectiveIn this study, an Inca bundle was examined using computed tomography (CT). The primary aim was to determine the preservation status of bony and soft tissues, the sex, the age at the time of death, possible indicators for disease or even the cause of death, as well as the kind of mummification. A secondary aim was to obtain a brief overview of the wrapping in order to gain additional information on the cultural background.Materials and methodsThe bundle belongs to the Museum of Cultures in Basel, Switzerland, and was bought in Munich, Germany, in 1921. Radiocarbon dating of the superficial textile yielded a calibrated age between 1480 and 1650 AD. The mummy was investigated using multi-slice CT with slice thickness of 0.75 mm and 110 kilovolt. For standardized assessment of soft tissue preservation, a recently developed checklist was applied.ResultsCT revealed the mummy of a seven to nine year old boy with superior preservation of bony and soft tissues allowing detailed assessment. Indicators of neurofibromatosis type 1 (paravertebral and cutaneous neurofibromas, a breast neurofibroma, sphenoid wing dysplasia), Chagas disease (dilatation of the esophagus, stomach, rectum, and large amounts of feces), and lung infection (pleural adherence, calcifications), probably due to tuberculosis, were found. Furthermore, signs of peri-mortem violence (transection of the chest and a defect in the abdominal wall) were detected. CT images revealed a carefully performed wrapping.ConclusionCT examination of the Inca bundle proved to be an important non-destructive examination method. Standardized assessment, especially of the soft tissue structures, allowed for diagnoses of several diseases, indicating a multi-morbid child at the time of death. The careful wrapping pointed to a ceremonial burial. Within the cultural background, the signs of fatal violence were discussed as a possible result of war, murder, accident, or human sacrifice.

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