Advanced surgical guidance technology: a review

Accuracy of intraoral real-time navigation versus static, CAD/CAM-manufactured pilot drilling guides in dental implant surgery: an in vitro study

Background

Nowadays, 3D planning and static for dynamic aids play an increasing role in oral rehabilitation of the masticatory apparatus with dental implants. The aim of this study is to compare the accuracy of implant placement using a 3D-printed drilling guide and an intraoral real-time dynamic navigation system.

Methods

A total of 60 implants were placed on 12 partially edentulous lower jaw models. 30 were placed with pilot drilling guides, the other half with dynamic navigation (DENACAM^®). In addition, implant placement in interdental gaps and free-end situations were investigated. Accuracy was assessed by cone-beam computed tomography (CBCT).

Results

Both systems achieved clinically acceptable results, yet more accurate results regarding the offset of implant base and tip in several spatial dimensions were achieved using drilling guides (each p < 0.05). With regard to angulation, real-time navigation was more precise (p = 0.0016). Its inaccuracy was 3°; the template-guided systems was 4.6°. Median horizontal deviation was 0.52 mm at base and 0.75 mm at tip using DENACAM^®. When using the pilot drill guide, horizontal deviation was 0.34 mm in the median and at the tip by 0.59 mm. Regarding angulation, it was found that the closer the drill hole was to the system's marker, the better navigation performed. The template did not show this trend (p = 0.0043; and p = 0.0022).

Conclusion

Considering the limitations of an in vitro study, dynamic navigation can be used be a tool for reliable and accurate implantation. However, further clinical studies need to follow in order to provide an evidence-based recommendation for use in vivo.

Supplementary Information

The online version contains supplementary material available at 10.1186/s40729-022-00430-6.

Reducing errors in guided implant surgery to optimize treatment outcomes

Clinical considerations and treatment criteria in implant placement are constantly evolving. Prosthetically driven implant surgery has become the standard of care to improve short and long-term functional and esthetic outcomes. Therefore, implant position and angulation are planned according to the available bone, anatomical structures, and the requirements of the future prosthetic superstructure. In parallel with these developments, significant progress has been made in data imaging and different software technologies to allow the integration of data within a digital file format. Digitalization in implant surgery enables optimal planning of implant position, as well as the ability to transfer this planning to the surgical field-a process defined as "computer-supported implant planning and guided surgery." The aims of the present review are as follows: (a) to critically appraise the indications and potential "added value" of guided implant surgery, elaborating the main differences between dynamic and static guidance; and (b) to discuss the most important clinical considerations relevant for the different steps of the workflow that might influence the surgical outcome and to offer recommendations on how to avoid or reduce process errors in order to optimize treatment outcomes.

Freehand Versus Guided Surgery: Factors Influencing Accuracy of Dental Implant Placement

INTRODUCTION

Patient anatomy, practitioner experience, and surgical approach are all factors that influence implant accuracy. However, the relative importance of each factor is poorly understood. The present study aimed to identify which factors most critically determine implant accuracy to aid the practitioner in case selection for guided versus freehand surgery.

METHODS

One practitioner's ideal implant angulation and position was compared with his achieved position radiographically for 450 implants placed using a conventional freehand method. The relative contribution of 11 demographic, anatomical, and surgical factors to the accuracy of implant placement was systematically quantified.

DISCUSSION

The most important predictors of angulation and position accuracy were the number of adjacent implants placed and the tooth-borne status of the site. Immediate placement also significantly increased position accuracy, whereas cases with narrow sites were significantly more accurate in angulation. Accuracy also improved with the practitioner's experience.

CONCLUSION

These results suggest tooth-borne, single-implant cases performed later in the practitioner's experience are most appropriate for freehand placement, whereas guided surgery should be considered to improve accuracy for multiple-implant cases in edentulous or partially edentulous sites.

Surgical templates for dental implant positioning; current knowledge and clinical perspectives

Dental implants have been used in a variety of different forms for many years. Since the mid-20^th century, there has been an increase in interest in the implant process for the replacement of missing teeth. Branemark was one of the initial pioneers who applied scientifically based research techniques to develop an endosseous implant that forms an immobile connection with bone. The need for a dental implant to completely address multiple physical and biological factors imposes tremendous constraints on the surgical and handling protocol. Metallic dental implants have been successfully used for decades, but they have serious shortcomings related to their bony union and the fact that their mechanical properties do not match those of bone. However, anatomic limitation and restorative demands encourage the surgeon to gain precision in planning and surgical positioning of dental implants. Ideal placement of the implant facilitates the establishment of favorable forces on the implants and the prosthetic component as well as ensures an aesthetic outcome. Therefore, it is advisable to establish a logical continuity between the planned restoration and the surgical phases, it is essential to use a transfer device that for sure increases the predictability of success. The surgical guide template is fabricated by a dental technician after the presurgical restorative appointments that primarily include determination of occlusal scheme and implant angulations. Here, authors genuinely attempted to review the evolution and clinical applicability of surgical templates used in the placement of dental implants.

Three-dimensional imaging and guided surgery for dental implants

Clinicians worldwide are increasingly adopting guided surgical applications for dental implants. Clinicians are becoming more aware of the benefits of proper planning through advanced imaging modalities and interactive treatment planning applications. All aspects of the planning phase are based on sound surgical and restorative fundamentals. As an integral part of the implant team, dental laboratories have now moved from analog to the digital world, providing the necessary support to the new digital workflow.

Treatment of patients with tiolox-dentaurum dental implants at the polyclinic shoshi

INTRODUCTION

The importance of the dental implantology has influenced the development of many treatment methods in this field. The aim of our study is to evaluate the advantages and disadvantages of the treatment with TIOLOX-DENTAURUM dental implants in cases of partial and total lack of teeth, compared to classic dentures. To conduct our research we have used the prospective method.

MATERIAL AND METHODS

The analyzed cases have undergone surgical treatment at the "Policlinic Shoshi" in Prishtina during 2010-2011. This study included 29 patients, 23 in the research group and 6 in the control group. The patients involved in the study were 30-59 years old. 52,2% of our patients were 30-39 years old, while 17,4% were 50-59 years old.

RESULTS

In the research group, the average time of placing the dental bridges in the lower jaw was 2 months and 4.2 months in the control group. In the upper jaw, the average time was 3 months for the experimental group and 5,4 months for the control group.

CONCLUSION

The period after the placement of implants until the placement of dentures, can be shortened from 4-6 months to 3 months for the upper jaw and from 3 to 2 months for the lower jaw.

Accuracy assessment of a marker-free method for registration of CT and stereo images applied in image-guided implantology: a phantom study

To assess the accuracy of a proposed marker-free registration method as opposed to the conventional marker-based method using an image-guided dental system, and investigating the best configurations of anatomical landmarks for various surgical fields in a phantom study, a CT-compatible dental phantom consisting of implanted targets was used. Two marker-free registration methods were evaluated, first using dental anatomical landmarks and second, using a reference marker tool. Six implanted markers, distributed in the inner space of the phantom were used as the targets; the values of target registration error (TRE) for each target were measured and compared with the marker-based method. Then, the effects of different landmark configurations on TRE values, measured using the Parsiss IV Guided Navigation system (Parsiss, Tehran, Iran), were investigated to find the best landmark arrangement for reaching the minimum registration error in each target region. It was proved that marker-free registration can be as precise as the marker-based method. This has a great impact on image-guided implantology systems whereby the drawbacks of fiducial markers for patient and surgeon are removed. It was also shown that smaller values of TRE could be achieved by using appropriate landmark configurations and moving the center of the landmark set closer to the surgery target. Other common factors would not necessarily decrease the TRE value so the conventional rules accepted in the clinical community about the ways to reduce TRE should be adapted to the selected field of dental surgery.

Software tools and surgical guides in dental-implant-guided surgery

Cone beam computed tomography has become an essential tool in the diagnosis and planning for implant dentistry. New hardware and software developments have emerged to help implant surgeons to successfully adopt and use different systems in patients requiring prosthetically driven implant dentistry. However, there is the need to develop an adequate planning protocol that includes appropriate acquisition/data manipulation, appropriate use of software tools for interpretation, and appropriate application of such systems during implant surgery. This article examines essential characteristics of the entire implant-guided surgery planning process and points out potential sources of error that could affect clinical accuracy outcomes.

Fully customized placement of orthodontic miniplates: a novel clinical technique

INTRODUCTION

The initial stability and survival rate of orthodontic mini-implants are highly dependent on the amount of cortical bone at their insertion site. In areas with limited bone availability, mini-plates are preferred to provide effective skeletal anchorage. The purpose of this paper was to present a new clinical technique for the insertion of mini-plates.

METHODS

In order to apply this new technique, a cone-beam image of the insertion area is required. A software (Galaxy Sirona, Bensheim, Germany) is used to construct a three-dimensional image of the scanned area and to virtually determine the exact location of the mini-plate as well as the position of the fixation screws. A stereolithographic model (STL) is then created by means of a three-dimensional scanner.Prior to its surgical insertion, the bone plate is adapted to the stereo-lithographic model. Finally, a custom transfer jig is fabricated in order to assist with accurate placement of the mini-plate intra-operatively.

RESULTS

The presented technique minimizes intra-operative decision making, because the final position of the bone plate is determined pre-surgically. This significantly reduces the duration of the surgical procedure and improves its outcome.

CONCLUSIONS

A novel method for surgical placement of orthodontic mini-plates is presented. The technique facilitates accurate adaptation of mini-plates and insertion of retaining surgical screws; thereby enabling clinicians to more confidently increase the use of bone plates, especially in anatomical areas where the success of non-osseointegrated mini-screws is less favorable.

The effect of guided flapless implant procedure on heat generation from implant drilling

The objective of this study was to evaluate the heat generation in vitro during the flapless drilling procedure using surgical drill guides. Ten resin models with bilateral edentulous tooth spaces in the first and second molars in the mandible were used in this study. On one side of the mandible, drilling was performed with a flapless approach using a surgical drill guide. On the other side of the mandible, drilling was performed with a flap approach. The temperature changes were measured during final drilling by thermocouples. The mean maximum temperatures during drilling with guided flapless procedures were 29.5 °C and 32.6 °C at the depths of 3 and 6 mm, respectively, whereas for flap procedures they were 29.4 °C and 31.3 °C. There was no statistically significant difference between the groups. These findings suggest that drilling with external irrigation in an up-and-down pumping motion may not lead to a significant increase the bone temperature during a flapless procedure using surgical drill guides.

Technical accuracy of printed surgical templates for guided implant surgery with the coDiagnostiX ™ software

BACKGROUND

Printing of templates for guided surgery represents an alternative to laboratory manufactured templates.

PURPOSE

To determine the technical accuracy of a virtually designed and printed surgical template for guided implant surgery based on a surface scan of a cast model using the coDiagnostiX™ software.

MATERIALS AND METHODS

Cast models and the virtual planning data of nine patients receiving guided implant surgery with the coDiagnostiX software were analyzed. The original cast models were equipped with three titanium pins and scanned with a three-dimensional scanner. The scans were uploaded in the coDiagnostiX software and the virtual surgical templates were designed including the sleeves at their original positions. After printing the surgical templates, the sleeve positions were determined by optical scanning, and deviations were calculated and compared with the virtual positions of the sleeves.

RESULTS

The sleeves showed a mean three-dimensional deviation of 0.22 mm (range: 0.07-0.38 mm) in the center of the sleeve top, 0.24 mm (range: 0.08-0.36 mm) in the center of the sleeve bases and a mean angular deviation of 1.5° (range: 0.4°-3.3°) compared with the virtual positions.

CONCLUSIONS

A high accuracy can be achieved using printed templates for guided implant surgery, by taking into account all sources of inaccuracies.

Stereolithographic surgical template: a review

Implant placement has become a routine modality of dental care.Improvements in surgical reconstructive methods as well as increased prosthetic demands,require a highly accurate diagnosis, planning and placement. Recently,computer-aided design and manufacturing have made it possible to use data from computerised tomography to not only plan implant rehabilitation,but also transfer this information to the surgery.A review on one of this technique called Stereolithography is presented in this article.It permits graphic and complex 3D implant placement and fabrication of stereolithographic surgical templates. Also offers many significant benefits over traditional procedures.

Experience-based virtual training system for knee arthroscopic inspection

Background

Arthroscopic surgical training is inherently difficult due to limited visibility, reduced motion freedom and non-intuitive hand-eye coordination. Traditional training methods as well as virtual reality approach lack the direct guidance of an experienced physician.

Methods

This paper presents an experience-based arthroscopic training simulator that integrates motion tracking with a haptic device to record and reproduce the complex trajectory of an arthroscopic inspection procedure. Optimal arthroscopic operations depend on much practice because the knee joint space is narrow and the anatomic structures are complex. The trajectory of the arthroscope from the experienced surgeon can be captured during the clinical treatment. Then a haptic device is used to guide the trainees in the virtual environment to follow the trajectory.

Results

In this paper, an experiment for the eight subjects’ performance of arthroscopic inspection on the same simulator was done with and without the force guidance. The experiment reveals that most subjects’ performances are better after they repeated the same inspection five times. Furthermore, most subjects’ performances with the force guidance are better than those without the force guidance. In the experiment, the average error with the force guidance is 33.01% lower than that without the force guidance. The operation time with the force guidance is 14.95% less than that without the force guidance.

Conclusions

We develop a novel virtual knee arthroscopic training system with virtual and haptic guidance. Compared to traditional VR training system that only has a single play-script based on a virtual model, the proposed system can track and reproduce real-life arthroscopic procedures and create a useful training database. From our experiment, the force guidance can efficiently shorten the learning curve of novice trainees. Through such system, novice trainees can efficiently develop required surgical skills by the virtual and haptic guidance from an experienced surgeon.

Types of Implant Surgical Guides in Dentistry: A Review

Various techniques have been proposed for the fabrication of surgical guide templates in implant dentistry. The objective of this paper is to review the associated literature and recent advancements in this field, based on design concept. An electronic and hand search of the literature revealed 3 categories, namely, nonlimiting, partially limiting, and completely limiting design. Most clinicians still adopt the partially limiting design due to its cost-effectiveness and credibility. Moreover, clinicians use cross-sectional imaging during the preimplant assessment of surgical sites.

Registration accuracy of three-dimensional surface and cone beam computed tomography data for virtual implant planning

OBJECTIVE

Virtual wax-ups based on three-dimensional (3D) surface models can be matched (i.e. registered) to cone beam computed tomography (CBCT) data of the same patient for dental implant planning. Thereby, implant planning software can visualize anatomical and prosthetic information simultaneously. The aim of this study is to assess the accuracy of a newly developed registration process.

MATERIAL AND METHODS

Data pairs of CBCT and 3D surface data of 16 patients for dental implant planning were registered and the discrepancy between the visualized 3D surface data and the corresponding CBCT data were measured on 64 teeth at seven points by two investigators in two iterations with a total of 1792 measurements.

RESULTS

All data pairs were matched successfully and mean distances between CBCT and 3D surface data were between 0.03(±0.33) and 0.14(±0.18) mm. At two of seven measuring points, statistically significant correlations were determined between the measured error and the presence and type of restorations. Registration errors in maxilla and mandible were not statistically significantly different.

CONCLUSION

According to the results of this study, registration of 3D surface data and CBCT data works reliably and is sufficiently accurate for dental implant planning. Thereby, barium-sulfate scanning templates can be avoided and dental implant planning can be accomplished fully virtual.

Effect of surgical guide design and surgeon's experience on the accuracy of implant placement

Implant position is a key determinant of esthetic and functional success. Achieving the goal of ideal implant position may be affected by case selection, prosthodontically driven treatment planning, site preparation, surgeon's experience and use of a surgical guide. The combined effect of surgical guide design, surgeon's experience, and size of the edentulous area on the accuracy of implant placement was evaluated in a simulated clinical setting. Twenty-one volunteers were recruited to participate in the study. They were divided evenly into 3 groups (novice, intermediate, and experienced). Each surgeon placed implants in single and double sites using 4 different surgical guide designs (no guide, tube, channel, and guided) and written instructions describing the ideal implant positions. A definitive typodont was constructed that had 3 implants in prosthetically determined ideal positions of single and double sites. The position and angulation of implants placed by the surgeons in the duplicate typodonts was measured using a computerized coordinate measuring machine and compared to the definitive typodont. The mean absolute positional error for all guides was 0.273, 0.340, 0.197 mm in mesial-distal, buccal-lingual, vertical positions, respectively, with an overall range of 0.00 to 1.81 mm. The mean absolute angle error for all guides was 1.61° and 2.39° in the mesial-distal and buccal-lingual angulations, respectively, with an overall range of 0.01° to 9.7°. Surgical guide design had a statistically significant effect on the accuracy of implant placement regardless of the surgeon's experience level. Experienced surgeons had significantly less error in buccal-lingual angulation. The size of the edentulous sites was found to affect both implant angle and position significantly. The magnitude of error in position and angulation caused by surgical guide design, surgeon's experience, and site size reported in this study are possibly not large enough to be clinically significant; however, it is likely that errors would be magnified in clinical practice. Future research is recommended to evaluate the effect of surgical guide design in vivo on implant angulation and position error.

Modular preoperative planning software for computer-aided oral implantology and the application of a novel stereolithographic template: a pilot study

PURPOSE

In the field of oral implantology, there is a trend toward computer-aided implant surgery, especially the application of computerized tomography (CT)-derived surgical templates. However, because of relatively unsatisfactory match between the templates and receptor sites, conventional surgical templates may not be accurate enough for the severely resorbed edentulous cases during the procedure of transferring the preoperative plan to the actual surgery. The purpose of this study is to introduce a novel bone-tooth-combined-supported surgical guide, which is designed by utilizing a special modular software and fabricated via stereolithography technique using both laser scanning and CT imaging, thus improving the fit accuracy and reliability.

MATERIALS AND METHODS

A modular preoperative planning software was developed for computer-aided oral implantology. With the introduction of dynamic link libraries and some well-known free, open-source software libraries such as Visualization Toolkit (Kitware, Inc., New York, USA) and Insight Toolkit (Kitware, Inc.) a plug-in evolutive software architecture was established, allowing for expandability, accessibility, and maintainability in our system. To provide a link between the preoperative plan and the actual surgery, a novel bone-tooth-combined-supported surgical template was fabricated, utilizing laser scanning, image registration, and rapid prototyping. Clinical studies were conducted on four partially edentulous cases to make a comparison with the conventional bone-supported templates.

RESULTS

The fixation was more stable than tooth-supported templates because laser scanning technology obtained detailed dentition information, which brought about the unique topography between the match surface of the templates and the adjacent teeth. The average distance deviations at the coronal and apical point of the implant were 0.66 mm (range: 0.3-1.2) and 0.86 mm (range: 0.4-1.2), and the average angle deviation was 1.84 degrees (range: 0.6-2.8 degrees ).

CONCLUSIONS

This pilot study proves that the novel combined-supported templates are superior to the conventional ones. However, more clinical cases will be conducted to demonstrate their feasibility and reliability.

Availability of a remote online hemodynamic monitoring system during treatment in a private dental office for medically high-risk patients

The importance of systemic management to prevent accidents is increasing in dentistry because co-morbid illnesses in an aging society and invasive surgical procedures are increasing. In this prefecture, a new medical system called the remote online hemodynamic monitoring system (ROHMs) was started in 2001. Eight private dental offices participated in this trial. When dental practitioners feel the risk of a dental procedure, they can contact via ROHMs to this hospital. Then, the hemodynamic data (blood pressure, heart rate, ECG, SpO₂, and RPP) of the patient in the clinic can be transmitted here via the internet, and the images and the voice can be transmitted as well. The availability of this system was assessed in 66 patients (98 cases). The most frequent complications were hypertension, heart disease, and diabetes mellitus. Systemic management included monitoring during the dental procedure (71.4%), checking vital signs after an interview (15.3%), and monitoring under sedation (13.3%). There were 35.7% of all cases where an unscheduled procedure was necessary for the systemic management. Based on a questionnaire, the majority of the patients felt relieved and safe. This system creates a situation where a specialist is almost present during the procedure. This system will provide significant assistance for future medical cooperation for risk management.

Implant radiography and radiology

The practitioner placing dental implants has many options with respect to pre-implant radiographic assessment of the jaws. The advantages and disadvantages of the imaging modalities currently available for pre-implant imaging are discussed in some detail. Intra-oral and extra-oral radiographs are generally low dose but the information provided is limited as the images are not three-dimensional. Tomography is three-dimensional, but the image quality is highly variable. Computed tomography (CT) has been the gold standard for many years as the information provided is three-dimensional and generally very accurate. However, CT examinations are expensive and deliver a relatively high radiation dose to the patient. The latest imaging modality introduced is cone beam volumetric tomography (CBVT) and this technology is very promising with regard to pre-implant imaging. CBVT generally delivers a lower dose to the patient than CT and provides reasonably sharp images with three-dimensional information. A comparison between CT and CBVT is provided. Magnetic resonance imaging is showing some promise, but the examinations are not readily available, generally expensive and bone is not well imaged. Magnetic resonance imaging is excellent for demonstrating soft tissues and therefore may be of great use in identifying the inferior dental nerve and vessels. All of the above technology is of little value if the information required is not obtained and so information is also provided on imaging of some of the vital structures. Of particular interest is the inferior dental canal, incisive canals of the mandible, genial foramina and canals, maxillary sinus and the incisive canal and foramen of the maxilla.

Computer-Aided Design/Computer-Aided Manufacturing Surgical Guidance for Placement of Dental Implants: Case Report

Dental implant rehabilitation faces increasing prosthetic and esthetic demands, requiring precise surgical planning and placement. Presurgical treatment evaluation can now be accomplished using 3-dimensional computed tomography imaging. Although software has been developed to assist in implant selection and localization, transferring this information to the surgical field has remained a difficult task. Over the last few years, computer-aided design and manufacturing have made it possible to use data from computed tomography in order to transfer virtual implant placement to the surgery. One of these techniques utilizes a small computer-driven drilling mechanism that transfers implant planning on a laboratory model. This novel approach may be advantageous once available in dental laboratories and/or offices. This report presents the method and, for the first time, illustrates it with a fully edentulous advanced clinical case. Resulting clinical benefits over traditional procedures are discussed.

Computer methods for automating preoperative dental implant planning: implant positioning and size assignment

The paper presents computer-aided methods that allocate a dental implant and suggest its size, during the pre-operative planning stage, in conformance with introduced optimization criteria and established clinical requirements. Based on computed tomography data of the jaw and prosthesis anatomy, single tooth cases are planned for the best-suited implant insertion at a user-defined region. An optimum implantation axis line is produced and cylindrical implants of various candidate sizes are then automatically positioned, while their occlusal end is leveled to bone ridge, and evaluated. Radial safety margins are used for the assessment of the implant safety distance from neighboring anatomical structures and bone quantity and quality are estimated and taken into consideration. A case study demonstrates the concept and allows for its discussion.

Pre-operative Drilling Simulation Method for Dental Implant Treatment

The position, depth and direction of implant placement are often planned based on evaluation of radiographs and study casts. Insertion planned in such a manner may not be adequate for precise and safe surgery in some cases due to inadequate working clearance in the oral cavity. In order to obtain high initial stability and ensure osseointegration at the implant-bone interface, careful and precise drilling must be performed at the implant placement site. Therefore, we propose the necessity of evaluating the operability of implant treatment-devices prior to surgery. The amount of handling space needed during implant placement surgery was determined. The results showed that for implants with a length of 7-18 mm, a vertical distance of as much as 50-60 mm was required, depending on the implant platform. These results suggest the necessity of pre-operative drilling simulation in each individual. Handling space was measured with angled heads and probes fabricated on a trial basis for pre-surgical drilling simulation in the oral cavity. We believe that these instruments may be clinically useful in estimating the amount of handling space required prior to surgery and ensuring precise implant placement. Evaluation of the intra-oral environment for handling of treatment devices should be included in the pre-surgical intra-oral evaluation of dental implant cases to avoid changes in treatment planning due to intra-oral interference during the course of surgery.