Positioning of dental implants using computer-aided navigation and an optical tracking system: case report and presentation of a new method

Secondary Correction of Posttraumatic Enophthalmos

Posttraumatic enophthalmos (PE) arises when the ocular globe is displaced posteriorly and inferiorly in the orbital cavity due to a mismatch in orbital volume and orbital content. This most commonly happens after orbital fractures. The resulting disruptions to aesthetic form and ocular functions often necessitate surgical correction for reconstruction and restoration. The purpose of surgical management of PE is to reconstruct orbital shape and volume as well as to restore any herniated orbital content. This can be particularly challenging in cases involving large defects that require complex orbital reconstruction. Recent advancements in computer-aided surgery have introduced innovative and important tools to assist surgeons with these difficult cases. The ability to create customized, patient-specific implants can facilitate reconstruction involving complicated anatomy. Additionally, intraoperative imaging and intraoperative navigation can serve as useful guides for surgeons to more accurately place implants, especially in cases with limited visualization, in order to achieve optimal outcomes.

The influence of cone beam computed tomography on IRIS-100 implant navigation system

Background/purpose

Cone beam computed tomography (CBCT) is frequently used in dental diagnosis and treatment. Comparative studies of the effects of CBCT on implant navigation, however, are still limited. The objective of this study was to evaluate whether the computed tomography images of the four commercial brands will affect the accuracy of the new version of IRIS implant navigation system.

Materials and methods

In the first part, the accuracy of the IRIS implant navigation system was evaluated by a precision confirmation jig whose position is confirmed. In the second part, the IRIS implant navigation system was used in conjunction with 4 brands of CBCT scans analyzed by its effect on accuracy.

Results

The results showed that the mean deviation of the new version of IRIS-100 system accuracy was less than 1 mm. Among the four groups, the overall average deviation caused by CBCT images showed that the 3D eXam group had the smallest error of approximately 0.94 ± 0.12 mm and the AZ 3000 CT group had the largest error of approximately 1.34 ± 0.10 mm.

Conclusion

Based on the study, the accuracy of the IRIS implant navigation system will vary with the CBCT image resolution and the status of the CBCT machine.

Surgical Navigation, Augmented Reality, and 3D Printing for Hard Palate Adenoid Cystic Carcinoma En-Bloc Resection: Case Report and Literature Review

Adenoid Cystic Carcinoma is a rare and aggressive tumor representing less than 1% of head and neck cancers. This malignancy often arises from the minor salivary glands, being the palate its most common location. Surgical en-bloc resection with clear margins is the primary treatment. However, this location presents a limited line of sight and a high risk of injuries, making the surgical procedure challenging. In this context, technologies such as intraoperative navigation can become an effective tool, reducing morbidity and improving the safety and accuracy of the procedure. Although their use is extended in fields such as neurosurgery, their application in maxillofacial surgery has not been widely evidenced. One reason is the need to rigidly fixate a navigation reference to the patient, which often entails an invasive setup. In this work, we studied three alternative and less invasive setups using optical tracking, 3D printing and augmented reality. We evaluated their precision in a patient-specific phantom, obtaining errors below 1 mm. The optimum setup was finally applied in a clinical case, where the navigation software was used to guide the tumor resection. Points were collected along the surgical margins after resection and compared with the real ones identified in the postoperative CT. Distances of less than 2 mm were obtained in 90% of the samples. Moreover, the navigation provided confidence to the surgeons, who could then undertake a less invasive and more conservative approach. The postoperative CT scans showed adequate resection margins and confirmed that the patient is free of disease after two years of follow-up.

Accuracy of intentionally tilted implant placement in the maxilla using dynamic navigation: a retrospective clinical analysis

The aim of this retrospective study was to investigate the accuracy of dynamic navigation for the placement of intentionally tilted implants in the posterior maxilla. The study included 12 patients with edentulism or continuous multiple tooth loss, who had 48 implants inserted under dynamic navigation guidance in the posterior maxilla. Twenty-four implants near maxillary sinuses were intentionally tilted. The average platform deviation was 1.3 ± 0.4 mm (range 0.8-2.3 mm), apex deviation was 1.1 ± 0.5 mm (range 0.2-2.3 mm), and axis deviation was 3.1 ± 1.0° (range 1.8-6.7°). The other 24 implants were axially positioned. The average platform deviation was 1.5 ± 0.5 mm (range 0.7-3.1 mm), apex deviation was 1.3 ± 0.7 mm (range 0.5-3.1 mm), and axis deviation was 3.2 ± 1.5° (range 1.5-7.7°). There was no significant difference in platform deviation, apex deviation, or axis deviation between the tilted implants and implants in the axial position (P > 0.05). This analysis indicates that a dynamic navigation system can be used as a method of guidance to place intentionally tilted implants as accurately as axially positioned implants in the posterior maxilla, thereby preventing damage to the maxillary sinuses and the need to graft bone.

Expectation and reality of guided implant surgery protocol using computer-assisted static and dynamic navigation system at present scenario: Evidence-based literature review

In the field of modern dentistry, ideal three-dimensional positioning of dental implant with optimal prosthetic fit offers successful long-term outcomes. To achieve such accurate implant placement, presurgical evaluation of hard and soft tissue matters the most. Their efforts can be attained using various application programs such as digital imaging, implant planning software, laboratory- or computer-assisted surgical guides, and dynamic navigation approach. To overcome different opinions and choices regarding guided surgery, this article explains an evidence-based literature review to assess its various outcomes and allowing informed choices before using various guided surgical techniques based on its expectation and reality outcomes. This highlights a clinician's choice to guide his successful implant surgery without causing distress in the midway of treatment. An online search was done on PubMed/Medline database to bring in accuracy to the expertise. This review includes reference of publications from 2000 to 2019, which is related to promising outcomes using computer-assisted static or dynamic navigation system for the placement of implant. Out of these, 809 were related to the computer-guided implant placement. Relevant papers were chosen in accordance with the inclusion and exclusion criteria. This review article contemplates to reflect the fact that computer-guided approach is considered to offer more predictable, safer, and faster implant placement with the predetermined final prosthetic outfit. Thus, digital planning and placing of dental implants in the correct position keep escalating to a higher achievement levels than a classical freehand approach. Nevertheless, this guided surgical approach also holds some errors and risks, which must be identified and rectified.

A Robotic Flexible Drill and Its Navigation System for Total Hip Arthroplasty

This paper presents a robotic flexible drill and its navigation system for total hip arthroplasty (THA). The new robotic system provides an unprecedented and unique capability to perform curved femoral milling under the guidance of a multimodality navigation system. The robotic system consists of three components. Firstly, a flexible drill manipulator comprises multiple rigid segments that act as a sheath to a flexible shaft with a drill/burr attached to the end. The second part of the robotic system is a hybrid tracking system that consists of an optical tracking system and a position tracking system. Optical tracking units are used to track the surgical objects and tools outside the drilling area, while a rotary encoder placed at each joint of the sheath is synchronized to provide the position information for the flexible manipulator with its virtual object. Finally, the flexible drill is integrated into a computer-aided navigation system. The navigation system provides real time guidance to a surgeon during the procedure. The flexible drill system is then able to implement THA by bone milling. The final section of this paper is an evaluation of the flexible and steerable drill and its navigation system for femoral bone milling in sawbones.

A software solution to dynamically reduce metallic distortions of electromagnetic tracking systems for image-guided surgery

PURPOSE

Electromagnetic tracking systems (EMTS) have achieved a high level of acceptance in clinical settings, e.g., to support tracking of medical instruments in image-guided interventions. However, tracking errors caused by movable metallic medical instruments and electronic devices are a critical problem which prevents the wider application of EMTS for clinical applications.

METHODS

We plan to introduce a method to dynamically reduce tracking errors caused by metallic objects in proximity to the magnetic sensor coil of the EMTS. We propose a method using ramp waveform excitation based on modeling the conductive distorter as a resistance-inductance circuit. Additionally, a fast data acquisition method is presented to speed up the refresh rate.

RESULTS

With the current approach, the sensor's positioning mean error is estimated to be 3.4, 1.3 and 0.7 mm, corresponding to a distance between the sensor and center of the transmitter coils' array of up to 200, 150 and 100 mm, respectively. The sensor pose error caused by different medical instruments placed in proximity was reduced by the proposed method to a level lower than 0.5 mm in position and [Formula: see text] in orientation. By applying the newly developed fast data acquisition method, we achieved a system refresh rate up to approximately 12.7 frames per second.

CONCLUSIONS

Our software-based approach can be integrated into existing medical EMTS seamlessly with no change in hardware. It improves the tracking accuracy of clinical EMTS when there is a metallic object placed near the sensor coil and has the potential to improve the safety and outcome of image-guided interventions.

Analysis of precision in tumor tracking based on optical positioning system during radiotherapy

Tumor tracking is performed during patient set-up and monitoring of respiratory motion in radiotherapy. In the clinical setting, there are several types of equipment for this set-up such as the Electronic Portal imaging Device (EPID) and Cone Beam CT (CBCT). Technically, an optical positioning system tracks the difference between the infra ball reflected from body and machine isocenter. Our objective is to compare the clinical positioning error of patient setup between Cone Beam CT (CBCT) with the Optical Positioning System (OPS), and to evaluate the traditional positioning systems and OPS based on our proposed approach of patient positioning. In our experiments, a phantom was used, and we measured its setup errors in three directions. Specifically, the deviations in the left-to-right (LR), anterior-to-posterior (AP) and inferior-to-superior (IS) directions were measured by vernier caliper on a graph paper using the Varian Linear accelerator. Then, we verified the accuracy of OPS based on this experimental study. In order to verify the accuracy of phantom experiment, 40 patients were selected in our radiotherapy experiment. To illustrate the precise of optical positioning system, we designed clinical trials using EPID. From our radiotherapy procedure, we can conclude that OPS has higher precise than conventional positioning methods, and is a comparatively fast and efficient positioning method with respect to the CBCT guidance system.

Computerized implant-dentistry: Advances toward automation

Advancements in the field of implantology such as three-dimensional imaging, implant-planning software, computer-aided-design/computer-aided-manufacturing (CAD/CAM) technology, computer-guided, and navigated implant surgery have led to the computerization of implant-dentistry. This three-dimensional computer-generated implant-planning and surgery has not only enabled accurate preoperative evaluation of the anatomic limitations but has also facilitated preoperative planning of implant positions along with virtual implant placement and subsequently transferring the virtual treatment plans onto the surgical phase via static (guided) or dynamic (navigated) systems aided by CAD/CAM technology. Computerized-implant-dentistry being highly predictable and minimally invasive in nature has also allowed implant placement in patients with medical comorbidities (e.g. radiation therapy, blood dyscrasias), in patients with complex problems following a significant alteration of the bony anatomy as a result of benign or malignant pathology of the jaws or trauma and in patients with other physical and emotional problems. With significant achievements accomplished in the field of computerized implant-dentistry, attempts are now been made toward complete automation of implant-dentistry.

Application of a real-time three-dimensional navigation system to various oral and maxillofacial surgical procedures

The aim of this study was to confirm the effectiveness of a real-time three-dimensional navigation system for use during various oral and maxillofacial surgeries. Five surgeries were performed with this real-time three-dimensional navigation system. For mandibular surgery, patients wore acrylic surgical splints when they underwent computed tomography examinations and the operation to maintain the mandibular position. The incidence of complications during and after surgery was assessed. No connection with the nasal cavity or maxillary sinus was observed at the maxilla during the operation. The inferior alveolar nerve was not injured directly, and any paresthesia around the lower lip and mental region had disappeared within several days after the surgery. In both maxillary and mandibular cases, there was no abnormal hemorrhage during or after the operation. Real-time three-dimensional computer-navigated surgery allows minimally invasive, safe procedures to be performed with precision. It results in minimal complications and early recovery.

Optimization of the interface between radiology, surgery, radiotherapy, and pathology in head and neck tumor surgery: a navigation-assisted multidisciplinary network

A navigation-assisted multidisciplinary network to improve the interface between radiology, surgery, radiotherapy, and pathology in the field of head and neck cancer is described. All implicated fields are integrated by a common server platform and have remote data access in a ready-to-use format. The margins of resection and exact locations of biopsies are mapped intraoperatively. The pathologist uses the numerical coordinates of these samples to precisely trace each specimen in the anatomical field. Subsequently, map-guided radiotherapy is planned. In addition to the benefits of image-guided resection, this model enables radiotherapy planning according to the specific coordinates of the resection defect plus any residually affected sites identified by the pathologist. Irradiation of adjacent healthy structures is thereby minimized. In summary, the navigation-assisted network described grants timely multidisciplinary feedback between all fields involved, attains meticulous pathological definition, and permits optimized coordinate-directed radiotherapy.

A novel dental implant guided surgery based on integration of surgical template and augmented reality

BACKGROUND

Stereoscopic visualization concept combined with head-mounted displays may increase the accuracy of computer-aided implant surgery.

PURPOSE

The aim of this study was to develop an augmented reality-based dental implant placement system and evaluate the accuracy of the virtually planned versus the actual prepared implant site created in vitro.

MATERIALS AND METHODS

Four fully edentulous mandibular and four partially edentulous maxillary duplicated casts were used. Six implants were planned in the mandibular and four in the maxillary casts. A total of 40 osteotomy sites were prepared in the casts using stereolithographic template integrated with augmented reality-based surgical simulation. During the surgery, the dentist could be guided accurately through a head-mounted display by superimposing the virtual auxiliary line and the drill stop. The deviation between planned and prepared positions of the implants was measured via postoperative computer tomography generated scan images.

RESULTS

Mean and standard deviation of the discrepancy between planned and prepared sites at the entry point, apex, angle, depth, and lateral locations were 0.50 ± 0.33 mm, 0.96 ± 0.36 mm, 2.70 ± 1.55°, 0.33 ± 0.27 mm, and 0.86 ± 0.34 mm, respectively, for the fully edentulous mandible, and 0.46 ± 0.20 mm, 1.23 ± 0.42 mm, 3.33 ± 1.42°, 0.48 ± 0.37 mm, and 1.1 ± 0.39 mm, respectively, for the partially edentulous maxilla. There was a statistically significant difference in the apical deviation between maxilla and mandible in this surgical simulation (p < .05).

CONCLUSIONS

Deviation of implant placement from planned position was significantly reduced by integrating surgical template and augmented reality technology.

On mixed reality environments for minimally invasive therapy guidance: systems architecture, successes and challenges in their implementation from laboratory to clinic

Mixed reality environments for medical applications have been explored and developed over the past three decades in an effort to enhance the clinician's view of anatomy and facilitate the performance of minimally invasive procedures. These environments must faithfully represent the real surgical field and require seamless integration of pre- and intra-operative imaging, surgical instrument tracking, and display technology into a common framework centered around and registered to the patient. However, in spite of their reported benefits, few mixed reality environments have been successfully translated into clinical use. Several challenges that contribute to the difficulty in integrating such environments into clinical practice are presented here and discussed in terms of both technical and clinical limitations. This article should raise awareness among both developers and end-users toward facilitating a greater application of such environments in the surgical practice of the future.

Computer-based approaches for maxillofacial interventions

Computers used as supporting tools for diagnostics, operation planning and therapy are of increasing relevance in surgery. Rapid progress in imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRT) and ultrasound already allows to represent anatomical and physiological conditions with maximal authenticity. In order to simulate complex surgeries we must develop ergonomic and intuitively useable software tools, thus enabling a precise and fast virtual execution of the planned surgical intervention preoperatively. Intraoperative support will consist of passive navigation tools, available already today, supporting the intraoperative orientation and, in the future, robots performing specific steps autonomously. Methods of augmented reality for the interaction of virtual objects and the real surgical scene are also suitable for the visualization of planning data and other medically relevant information in the operation <I>situs</I>. In maxillofacial and craniofacial surgery the techniques mentioned have been applied in all fields from dental implantology up to the correction of craniofacial malformations and the resection of skull base tumors. Many applications are still being developed or are still in the form of a prototype. However, it is already clear that developments in this area will have a considerable effect on a surgeon's routine work.

Computer-assisted implantology: historical background and potential outcomes-a review

BACKGROUND

The accurate transfer of preoperatively determined implant positions to the patient mouth is very beneficial to the dental practitioner as well as patients. The objective of this paper was to review the gradual development of computer-assisted implant surgery.

METHODS

All of the major data sources including unpublished data in the internet are considered

RESULTS AND CONCLUSIONS

Computer-assisted/-guided/-aided implantology has been founded to overcome the errors encountered during implant osteotomies and to position the implants more precisely. The protocols followed by this sophisticated technique are based upon the advocated concept of prosthetic-driven implantology and CT-scan analysis recently approved. Although several attempts have been made to improve this approach more and more, little has been done regarding the patient's demands, including cost. The inherent complexity of the techniques and materials utilized necessitates several degrees of training before attempting treatment and must be taken into account.

Image guided surgery: New technology for surgery of soft tissue and bone sarcomas

AIM

Providing the surgical oncologist with a new means of performing safe and radical sarcoma surgery with the help of image guidance technology.

METHOD

Two patients with pelvic sarcomas were operated upon with the help of an intra-operative navigation system. The technology of image guided surgery is described in one patient with a retroperitoneal sarcoma invading the bony pelvis and another patient with a chondrosarcoma of the iliac crest.

RESULTS

We show that this new procedure enables optimal radical surgical resection with minimal treatment related morbidity or loss of function.

CONCLUSION

Image guided surgery is a new technical tool in sarcoma surgery.

Image-to-patient registration by natural anatomical surfaces of the head

The use of registration markers in computer-assisted surgery is combined with high logistic costs and efforts.

During the preparation of image guided surgery, automated markerless patient-to-image registration based on anatomical surfaces allows a significant reduction of preoperative effort and of the radiation dose the patient is exposed to. Placement and measurement of radio-opaque fiducial markers becomes unnecessary. The usability of face, auricle, maxilla and mandible for surface-based registration to CT image data was investigated. The present study was performed to evaluate the clinical accuracy in finding defined target points within the surgical site after markerless patient registration in image-guided oral and maxillofacial surgery.

Preoperatively, the spatial position of 20 patients was registered to CT image data using a 3D laser surface scanner. Indications for surgery were tumours, foreign bodies and skeletal malformations. The accuracy of this surface-based registration was verified using additionally placed fiducial markers.

The study showed, that markerless surface-based registration was sufficiently accurate for clinical use when the surface used for matching was the upper jaw, the face, or — with reservations — the auricle. Surface-based registration using the mandible did not yield satisfying results. To conclude, image-to-patient registration based on laser surface scanning is a valuable method for surgery of the head. Multiple sites of the head were identified as appropriate for the method. Hence, dependent on the individual case and the intended surgery, the registration area can be selected with the necessary flexibility.

Image-guided surgery and medical robotics in the cranial area

Surgery in the cranial area includes complex anatomic situations with high-risk structures and high demands for functional and aesthetic results. Conventional surgery requires that the surgeon transfers complex anatomic and surgical planning information, using spatial sense and experience. The surgical procedure depends entirely on the manual skills of the operator. The development of image-guided surgery provides new revolutionary opportunities by integrating presurgical 3D imaging and intraoperative manipulation. Augmented reality, mechatronic surgical tools, and medical robotics may continue to progress in surgical instrumentation, and ultimately, surgical care. The aim of this article is to review and discuss state-of-the-art surgical navigation and medical robotics, image-to-patient registration, aspects of accuracy, and clinical applications for surgery in the cranial area.

Clinical indications and perspectives for intraoperative cone-beam computed tomography in oral and maxillofacial surgery

OBJECTIVES

Intraoperative cone-beam computerized tomography (CBCT) imaging has been introduced in oral and maxillofacial surgery. Using midfacial fractures as the pioneer model, this study describes the spectrum of further promising clinical indications for intraoperative CBCT and a clinical combination with intraoperative navigation.

STUDY DESIGN

One hundred seventy-nine patients admitted for surgical treatment of the facial skeleton were included in the study. Intraoperatively, 3-dimensional images were generated with the mobile CBCT scanner Arcadis Orbic 3D, obtained from Siemens Medical Solutions, in a variety of indications.

RESULTS

The acquisition of the data sets was uncomplicated, and image quality was sufficient to assess the postoperative result in all cases. In the example of a facial gunshot injury, a navigation system for intraoperative localization of the metal foreign bodies was used.

A new navigation system based on cephalograms and dental casts for oral and maxillofacial surgery

Intraoperative navigation systems help surgeons to accurately carry out preoperative plans without injuring anatomically important structures. A system is evaluated that uses cephalograms instead of computed tomographic (CT) scans to create images. Three-dimensional (3D) dental casts provide registration between imaging data and the patient. Cephalograms are widely employed in orthognathic and oral and maxillofacial surgery and expose patients to lower doses of radiation than CT. The system uses a dental cast to register the operation field to a pair of frontal and lateral cephalograms. The cast is transformed to 3D data with a laser scanner and a programme that runs on a personal computer. 3D data describing the dental cast, cephalograms and the oral and maxillofacial region of the patient are integrated with specialized software. The optical tracking system for navigation uses charged-coupled-device (CCD) video cameras and light-emitting diodes (LEDs). Two CCD video cameras follow the 3D coordinates of LED assemblies attached to the head, lower jaw and a handpiece. Errors occurring when a dental cast was transformed to 3D data ranged from 0.08 to 0.21 mm. Mean errors were 0.71 mm (0.21-1.09 mm) for the right maxillary central incisor, 0.62 mm (0.04-1.69 mm) for the right maxillary 2nd molar and 1.02 mm (0.23-1.47 mm) for the left maxillary 2nd molar. This surgical navigation system is sufficiently accurate for use in oral and maxillofacial surgery.

Advanced surgical guidance technology: a review

To maximize the outcome of implant placement, the use of advanced radiographic procedures such as computerized tomography, along with fabrication of surgical guides, has been advocated to inform surgeons of ideal implant location. More recently, simulation computer software has been introduced to view radiographic images and test potential implant locations. Yet, surgical guides are processed based on ideal tooth position, with little consideration for underlying anatomical limitations, which creates a disconnection between diagnostic planning and surgical restrictions. In response to this "missing link," computer-assisted design and computer-assisted manufacturing, as well as real-time surgical navigation were recently developed to obtain fully integrated surgical and prosthetic planning. Today, there are several technologies available, but, to our knowledge, a systematic assessment of surgical guidance has not yet been performed. Therefore, the aims of this review are to introduce advanced radiographic and software modalities, and present a detailed assessment of computer-assisted design and computer-assisted manufacturing methods and surgical navigation.

Computer-guided flapless transmucosal implant placement in the mandible: a new combination of two innovative techniques

OBJECTIVE

To assess whether computer-guided flapless transmucosal implant bed preparation without mucosal punching allows placement of dental implants in edentulous mandibles.

STUDY DESIGN

Twenty patients with fully edentulous mandibles (11 male; 9 female) were included in the study. Each patient was scheduled to receive 4 screw-shaped Ankylos (Dentsply Friadent, Mannheim, Germany) implants in the interforaminal region. The StealthStation Treon navigation system (Medtronic, Minnesota, MN) was used for computer-guided drilling. Using conventional implant drills the mucosa was penetrated without flap elevation or mucosal punching. The study protocol did not allow direct visualization of the bone surface during surgery.

RESULTS

For 78 implants (97.5%) the preoperative plan could be transfered to the patient by intraoperative navigation with a mean deviation of 0.9 mm (Implant tip 0.8 +/- 0.6 mm; coronal implant end 1.1 +/- 0.7 mm) as measured by comparing pre- and postoperative computerized tomography images. Two implants (2.5 %) were not primarily stable and failed to osseointegrate.

CONCLUSIONS

Computer-guided transmucosal interforaminal implant placement without mucosal punching is a precise and predictable procedure. It is, however, not yet suitable for all bone morphologies. Future developments may include miniaturization of hardware and simplification of the drilling procedure.

Accuracy of navigation-guided socket drilling before implant installation compared to the conventional free-hand method in a synthetic edentulous lower jaw model

In this study, the three-dimensional (3D) accuracy of navigation-guided (NG) socket drilling before implant installation was compared to the conventional free-hand (CF) method in a synthetic edentulous lower jaw model. The drillings were performed by two surgeons with different years of working experience. The inter-individual outcome was assessed. NG drillings were performed using an optical computerized tomography (CT)-based navigation system. CF drillings were performed using a surgical template. The coordinates of the drilled sockets were determined on the basis of CT scans. A total of n=224 drillings was evaluated. Inter-individual differences in terms of the surgeons' years of work experience were without statistical significance. The mean deviation of the CF drilled sockets (n=112) on the vestibulo-oral and mesio-distal direction was 11.2+/-5.6 degrees (range: 4.1-25.3 degrees ). With respect to the NG drilled sockets (n=112), the mean deviation was 4.2+/-1.8 degrees (range: 2.3-11.5). The mean distance to the mandibular canal was 1.1+/-0.6 mm (range: 0.1-2.3 mm) for CF-drilled sockets and 0.7+/-0.5 mm (range: 0.1-1.8 mm) for NG drilled sockets. The differences between the two methods were highly significant (P<0.01). A potential benefit from image-data-based navigation in implant surgery is discussed against the background of cost-effectiveness.

In vitroaccuracy of a novel registration and targeting technique for image-guided template production

OBJECTIVES

The objective of this study was to evaluate the accuracy of a novel registration and targeting technique for image-guided template production (IGTP) in a preliminary phantom study.

MATERIAL AND METHODS

Registration of four standard dental stone casts with integrated target pellets to the corresponding computed tomography (CT) data was performed via a vacuum mouthpiece and an external reference frame (Medical Intelligence GmbH, Germany). Using the Treon navigation system (Medtronic Inc., Minneapolis, MN, USA) a surgical path with the entry in the centre of the dental crown and the target in the centre of the target pellet was planned on the CT data. An aiming device was adjusted according to the planned trajectory and guided drillings into the dental stone casts. The accuracy was evaluated on postoperative 3D-CT data.

RESULTS

The mean fiducial registration error as given by the registration software was 0.4 mm. One hundred and twelve navigated drillings showed a mean accuracy [xy] of 0.42+/-0.26 mm (maximum 1 mm). For the z-axis, a mean accuracy [z] of 0.25+/-0.12 mm (maximum 0.6 mm) was found.

CONCLUSIONS

Comparing the presented registration technique to existing registration methods in IGTP and burr tracking, no radiographic and registration templates are needed. The procedure is easy and requires only minimal effort. Navigation-controlled drillings could be performed with an accuracy that approaches the intrinsic navigation system's accuracy, a fact that warrants its use for surgical template production. Further accuracy studies of template-guided drillings are necessary before the presented registration technique can be implemented for patient treatment.

Basic research and 12 years of clinical experience in computer-assisted navigation technology: a review

Computer-aided surgical navigation technology is commonly used in craniomaxillofacial surgery. It offers substantial improvement regarding esthetic and functional aspects in a range of surgical procedures. Based on augmented reality principles, where the real operative site is merged with computer generated graphic information, computer-aided navigation systems were employed, among other procedures, in dental implantology, arthroscopy of the temporomandibular joint, osteotomies, distraction osteogenesis, image guided biopsies and removals of foreign bodies. The decision to perform a procedure with or without computer-aided intraoperative navigation depends on the expected benefit to the procedure as well as on the technical expenditure necessary to achieve that goal. This paper comprises the experience gained in 12 years of research, development and routine clinical application. One hundred and fifty-eight operations with successful application of surgical navigation technology--divided into five groups--are evaluated regarding the criteria "medical benefit" and "technical expenditure" necessary to perform these procedures. Our results indicate that the medical benefit is likely to outweight the expenditure of technology with few exceptions (calvaria transplant, resection of the temporal bone, reconstruction of the orbital floor). Especially in dental implantology, specialized software reduces time and additional costs necessary to plan and perform procedures with computer-aided surgical navigation.

Temporary Intermaxillary Fixation using Individualized Acrylic Splints Permits Image???Data-Based Surgery of the Lower Jaw and Oropharynx

OBJECTIVES/HYPOTHESIS

Image-data-based surgical navigation is used as a helpful device in the operating room to localize critical structures with a high degree of accuracy. It also enables physicians to plan therapeutic performance. Because it relies on preoperatively acquired computed tomography (CT) or magnetic resonance imaging (MRI) data, there is restricted access for navigation of surgical instruments in areas that show motion uncorrelated with radiologic data. Thus, in the case of moveable structures, for example the lower jaw, navigational procedures could not yet be applied.

STUDY DESIGN

We introduce a new technique using individualized intermaxillary splints that fix the mandible in a reproducible aboccluded position at the time of image-data acquisition and surgery.

METHODS

Different manufacturing processes were investigated. The feasibility of uni- and bilateral intermaxillary splints was studied under clinical conditions in four patients during different procedures in the mandibular and oropharyngeal regions.

RESULTS

The manufacturing of the splints showed was easily performed in a short time. With bilateral fixation, there was a high anatomic target precision of 1.6 to 2.3 mm.

CONCLUSIONS

The use of bilateral intermaxillary splints that fix the patient's mandible in a reproducible aboccluded position permits an image-data-based navigated surgical approach to the oropharyngeal and mandibular regions.

Navigated vs. conventional implant insertion for maxillary single tooth replacement

Abstract Introduction: Computer-guided navigation has proven a valuable tool in several surgical disciplines. During oral implant placement, its application is intended to accomplish optimal implant localization and to reduce the risk of damage to adjacent structures. The aim of this study was to compare the precision limits of conventional vs. navigated implant insertion in practice.

MATERIALS AND METHODS

In cast models of the maxilla, implants were inserted to replace the left central incisor (n = 40) and the right canine (n = 40); each of those were inserted either conventionally (n = 20) or navigated (n = 20). Implant position, angulation and insertion depth were calculated from computer tomography scans of the implants that were connected to an index abutment of 40 cm length.

RESULTS

The variations of implant positions were reduced for implants that were inserted by navigation (P < 0.05). In both the axial and the transversal plane, the variations of implant angulations were reduced for implants that were inserted by a navigation protocol (P < 0.05). The variations of insertion depth were less (P < 0.05) when the implants were placed by navigation in comparison with conventional insertion procedures.

CONCLUSIONS

Given the experimental conditions, although they tried to mimic a clinical situation, no final conclusions can be drawn. The in vitro application of a navigation system resulted in an improved precision of insertion surgery regarding the position, angulation and depth of an implant. Clinical studies will have to prove if routine image guidance will result in superior surgical outcome.

Computer-aided navigation in dental implantology: 7 years of clinical experience

PURPOSE

This long-term study gives a review over 7 years of research, development, and routine clinical application of computer-aided navigation technology in dental implantology. Benefits and disadvantages of up-to-date technologies are discussed.

MATERIALS AND METHODS

In the course of the current advancement, various hardware and software configurations are used. In the initial phase, universally applicable navigation software is adapted for implantology. Since 2001, a special software module for dental implantology is available. Preoperative planning is performed on the basis of prosthetic aspects and requirements. In clinical routine use, patient and drill positions are intraoperatively registered by means of optoelectronic tracking systems; during preclinical tests, electromagnetic trackers are also used.

RESULTS

In 7 years (1995 to 2002), 55 patients with 327 dental implants were successfully positioned with computer-aided navigation technology. The mean number of implants per patient was 6 (minimum, 1; maximum, 11). No complications were observed; the preoperative planning could be exactly realized. The average expenditure of time for the preparation of a surgical intervention with navigation decreased from 2 to 3 days in the initial phase to one-half day in clinical routine use with software that is optimized for dental implantology.

CONCLUSIONS

The use of computer-aided navigation technology can contribute to considerable quality improvement. Preoperative planning is exactly realized and intraoperative safety is increased, because damage to nerves or neighboring teeth can be avoided.

Laser-scan-based navigation in cranio-maxillofacial surgery

BACKGROUND

In computer-assisted surgery, a correlation between a volume data set and the surgical site is required in order to localize the patient's head on the operating table. Registration markers are commonly used for this procedure. However, the marker registration is associated with high logistics, since the markers have to be placed prior to data set acquisition and have to be kept in their position until the patient enters the operating room. This study deals with a new markerless registration method in cranio-maxillofacial surgery that is based on a high-resolution laser-scan of the patient's (relaxed) skin surface.

PATIENTS

20 patients with tumours, bone malformations or foreign bodies, scheduled for computer-assisted surgery, were involved in the study.

STUDY DESIGN

The clinically applied accuracy of the laser-scan-based registration was measured through additionally placed registration markers. The inherent precision of the laser-scan registration system was controlled in phantom studies.

RESULTS

The clinically applied accuracy of the new laser-scan-based registration technique ranged between 0.2 and 1.8 mm with a mean deviation of 1.1mm and a standard deviation of 0.3 mm.

CONCLUSION

The facial skin surface can serve as a sufficiently stable and invariable reference base in order to register patients for computer-assisted cranio-maxillofacial surgery.

Apicoectomy of an endosseous implant to relieve paresthesia: a case report

Various radiographic and surgical techniques have been recommended to avoid paresthesia following mandibular implant placement. However, nerve impingement is sometimes inevitable, and when lingering numbness is reported, clinicians have a limited number of corrective options. This report describes a technique for cutting-back the apex of the implant, a technique that may be useful when lingering numbness persists after osseointegration has occurred.

Neue Konzepte in der bildgestützten Chirurgie: automatische Patientenregistrierung anhand von Kiefer und Ohrmuschel

OBJECTIVE

Automatic and marker less patient registration based on natural anatomical interfaces may considerably reduce the radiation load and logistical input prior to computer-assisted surgical interventions, as it is not necessary to place and measure reference markers. The present study was to find out if, apart from the facial skin, also auricles as well as the upper and lower jaw can be used as anatomical interfaces for the intraoperative registration of the patient's position.

MATERIAL AND METHOD

Prior to surgical intervention the positions of 20 patients were registered by a high-resolution 3D laser scan and correlated with the preoperative CT data set. Tumors, skeletal malformations, and foreign bodies were indications for surgical intervention. Auricles as well as the upper and lower jaw were used to register the patient's positions. The accuracy of this basically marker less method was clinically evaluated through the additionally placed conventional registration markers.

RESULTS AND CONCLUSION

The marker less patient registration based on natural anatomical interfaces was successful in the upper jaw (deviation: 0.8+/-0.3 mm). The tongue and mobile floor of the mouth led to geometric incongruence and inadequate laser registration in the lower jaw. As far as the auricles were concerned, high accuracy could only be achieved as long as the auricles had not been deformed during CT imaging (deviation: 1.9+/-0.9 mm). The usual CT acquisition with a conventional head support, however, led to temporary auricular deformations in more than half of the patients, which made an exact laser scan registration impossible.

Computer-aided placement of endosseous oral implants in patients after ablative tumour surgery: assessment of accuracy

The objective of this study was to evaluate the feasibility and accuracy of a novel surgical computer-aided navigation system for the placement of endosseous implants in patients after ablative tumour surgery. Pre-operative planning was performed by developing a prosthetic concept and modifying the implant position according to surgical requirements after high-resolution computed tomography (HRCT) scans with VISIT, a surgical planning and navigation software developed at the Vienna General Hospital. The pre-operative plan was transferred to the patients intraoperatively using surgical navigation software and optical tracking technology. The patients were HRCT-scanned again to compare the position of the implants with the pre-operative plan on reformatted CT-slices after matching of the pre- and post-operative data sets using the mutual information-technique. A total of 32 implants was evaluated. The mean deviation was 1.1 mm (range: 0-3.5 mm). The mean angular deviation of the implants was 6.4 degrees (range: 0.4 degrees - 17.4 degrees, variance: 13.3 degrees ). The results demonstrate, that adequate accuracy in placing endosseous oral implants can be delivered to patients with most difficult implantologic situations.

Evaluation of accuracy of insertion of dental implants and prosthetic treatment by computer-aided navigation in minipigs

The survival of loaded implants is critically dependent on their biomechanical stability. We have used a computer-guided navigation technique to evaluate the accuracy of computer-assisted insertion for immediately-loaded implants in minipigs. On the basis of computed tomographical data, the Robodent system was used for preoperative planning and guidance of inserting the implant. An optical tracking system allowed positioning of the implant and immediate prosthetic rehabilitation by inserting it in a plaster model and during the operation. Postoperative computed tomograms (CT) showed that the implants were placed precisely in the preoperatively planned position. The accuracy achieved corresponded well with the spatial resolution of the CT used. Immediate placement of the prefabricated crowns resulted in favourable occlusal positioning. Histological cross-sections showed that the implants were biomechanically stable. The accuracy of insertion of oral implants illustrated here suggests that insertion and prosthetic modelling of implants may benefit from computer-assisted navigation.

Accuracy of drilling guides for transfer from three-dimensional CT-based planning to placement of zygoma implants in human cadavers

The accuracy of surgical drilling guides was assessed for placement of zygoma implants. Six zygoma fixtures of length 45 mm (Nobel Biocare, Göteborg, Sweden) were placed in three formalin-fixed human cadavers using surgical drilling guides. The fabrication of these custom-made drilling guides was based on three-dimensional computerized tomography (3D-CT) data for the maxillary-zygomatic complex. The installation of the implants was simulated preoperatively using an adopted 3D-CT planning system. In addition, anatomical measurements of the zygomatic bone were performed on the 3D images. The preoperative CT images were then matched with postoperative ones in order to assess the deviation between the planned and installed implants. The angle between the planned and actually placed implants was < 3 degrees in four out of six cases. The largest deviation found at the exit point of one of the six implants was 2.7 mm. The present study showed that the use of surgical drilling guides should be encouraged for zygoma implant placement because of the lengths of the implants involved and the anatomical intricacies of the region.

Computer-enhanced stereoscopic vision in a head-mounted display for oral implant surgery

We developed a head-mounted display (HMD) with integrated computer-generated stereoscopic projection of target structures and integrated it into visit, a specific oral implant planning and navigation software. The HMD is equipped with two miniature computer monitors that project computer-generated graphics stereoscopically into the optical path. Its position is tracked by the navigation system's optical tracker and target structures are displayed in their true position over the operation site. In order to test this system's accuracy and spatial perception of the viewer, five interforaminal implants in three dry human mandibles were planned with visit and executed using the stereoscopic projection through the HMD. The deviation between planned and achieved position of the implants was measured on corresponding computed tomography (CT) scan images recorded post-operatively. The deviation between planned and achieved implant position at the jaw crest was 0.57 +/- 0.49 mm measured from the lingual, and 0.58 +/- 0.4 mm measured from the buccal cortex. At the tip of the implants the deviation was 0.77 +/- 0.63 mm at the lingual and 0.79 +/- 0.71 mm at the buccal cortex. The mean angular deviation between planned and executed implant position was 3.55 +/- 2.07 degrees. The present in vitro experiment indicates that the concept of preoperative planning and transfer to the operative field by an HMD allows us to achieve an average precision within 1 mm (range up to 3 mm) of the implant position and within 3 degrees deviation for the implant inclination (range up to 10 degrees ). Control during the drilling procedure is significantly improved by stereoscopic vision through the HMD resulting in a more accurate inclination of the implants.

A head-mounted operating binocular for augmented reality visualization in medicine--design and initial evaluation

Computer-aided surgery (CAS), the intraoperative application of biomedical visualization techniques, appears to be one of the most promising fields of application for augmented reality (AR), the display of additional computer-generated graphics over a real-world scene. Typically a device such as a head-mounted display (HMD) is used for AR. However, considerable technical problems connected with AR have limited the intraoperative application of HMDs up to now. One of the difficulties in using HMDs is the requirement for a common optical focal plane for both the realworld scene and the computer-generated image, and acceptance of the HMD by the user in a surgical environment. In order to increase the clinical acceptance of AR, we have adapted the Varioscope (Life Optics, Vienna), a miniature, cost-effective head-mounted operating binocular, for AR. In this paper, we present the basic design of the modified HMD, and the method and results of an extensive laboratory study for photogrammetric calibration of the Varioscope's computer displays to a real-world scene. In a series of 16 calibrations with varying zoom factors and object distances, mean calibration error was found to be 1.24 +/- 0.38 pixels or 0.12 +/- 0.05 mm for a 640 x 480 display. Maximum error accounted for 3.33 +/- 1.04 pixels or 0.33 +/- 0.12 mm. The location of a position measurement probe of an optical tracking system was transformed to the display with an error of less than 1 mm in the real world in 56% of all cases. For the remaining cases, error was below 2 mm. We conclude that the accuracy achieved in our experiments is sufficient for a wide range of CAS applications.

Evaluation of accuracy of computer-aided intraoperative positioning of endosseous oral implants in the edentulous mandible

The overall accuracy of a novel surgical computer-aided navigation system for placement of endosseous implants was evaluated. Five dry cadaver mandibles were scanned using high resolution computed tomography (HRCT). The position of four interforaminal dental implants was planned on the computer screen and transferred to the cadaver mandibles using VISIT, a surgical navigation software developed at the Vienna General Hospital. The specimens were HRCT-scanned again to compare the position of the implants with the preoperative plan on reformatted slices after matching of the pre- and postoperative data sets using the mutual information technique. The overall accuracy was 0.96 +/- 0.72 mm (range 0.0-3.5 mm). No perforation of the mandibular cortex or damage to the mandibular canal occurred. We conclude that computer-aided implant surgery can reach a level of accuracy where further clinical developments are feasible.

Computer assisted tumour resection of the skull base: case report

This case report demonstrates computer assisted resection of a skull base tumour after combined chemotherapy and irradiation, in a 40-year-old man with a squamous cell carcinoma of maxilla, zygoma, orbit and skull base. The resection of the skull base was performed with computer assistance after conventional resection of the maxilla, midface, exenteration of the orbit and lymph node dissection. Following combined chemotherapy and irradiation, the original, pretherapeutic tumour extent was marked on the new, presurgical CT scan enabling resection of the skull base with the use of a navigation microscope. Thus planned resection from the presurgical CT could be transposed intraoperatively using the navigation system, and the skull base could be resected with precision.

Use of an image-guided navigation system in dental implant surgery in anatomically complex operation sites

INTRODUCTION

Recent developments in computer assisted surgery have brought major improvements to maxillofacial surgery. Computer systems for intra-operative navigation have been introduced enabling the surgeon to locate the continually updated position of the instruments and the operation site on the patient's three-dimensional reconstructed image data set displayed on a monitor in the operating room. Complex surgical procedures can be performed according to the preoperative plan based on CT and/or MRI data minimizing surgical risks and optimizing clinical results. Nowadays computer-assisted-surgery has also proved effective in dental implantology.

AIM

The objective of this study was to compare the accuracy of conventional and computer-assisted dental implantation planning and surgery. Analyzing our early experiences, we aimed to evaluate the benefit from utilising computer assisted surgery (CAS).

PATIENTS

Five patients were treated with the aid of CAS, a total of 18 dental implants being placed. Only difficult operation sites, e.g. following bone augmentation or anatomically malformed jaws were included in this study.

METHOD

An infra-red light based navigation system (Vector Vision 2, BrainLAB, Munich, Germany) including a three-dimensional planning approach for maxillofacial surgery was used. Placement of dental implants in the maxilla included direct visualization when drilling the implant socket according to the axis previously planned on radiographs and CT scans.

RESULTS

In two cases the conventionally planned implant location had to be changed due to insufficient bone being available. With four implants, it proved possible to insert longer fixtures after the CAS system had evaluated all parameters of the surgical region. In one case a shorter implant was installed due to insufficient bone at the designated location.

CONCLUSION

The use of an image-guided navigation system provides a valuable tool in implant dentistry and proved superior to conventional implant surgery especially in difficult anatomical regions.