A surgical navigated cutting guide for mandibular osteotomies: accuracy and reproducibility of an image-guided mandibular osteotomy

Development and validation of collaborative robot-assisted cutting method for iliac crest flap raising: Randomized crossover trial

The current gold standard of computer-assisted jaw reconstruction includes raising microvascular bone flaps with patient-specific 3D-printed cutting guides. The downsides of cutting guides are invasive fixation, periosteal denudation, preoperative lead time and missing intraoperative flexibility. This study aimed to investigate the feasibility and accuracy of a robot-assisted cutting method for raising iliac crest flaps compared to a conventional 3D-printed cutting guide. In a randomized crossover design, 40 participants raised flaps on pelvic models using conventional cutting guides and a robot-assisted cutting method. The accuracy was measured and compared regarding osteotomy angle deviation, Hausdorff Distance (HD) and Average Hausdorff Distance (AVD). Duration, workload and usability were further evaluated. The mean angular deviation for the robot-assisted cutting method was 1.9 ± 1.1° (mean ± sd) and for the 3D-printed cutting guide it was 4.7 ± 2.9° (p < 0.001). The HD resulted in a mean value of 1.5 ± 0.6 mm (robot) and 2.0 ± 0.9 mm (conventional) (p < 0.001). For the AVD, this was 0.8 ± 0.5 mm (robot) and 0.8 ± 0.4 mm (conventional) (p = 0.320). Collaborative robot-assisted cutting is an alternative to 3D-printed cutting guides in experimental static settings, achieving slot design benefits with less invasiveness and higher intraoperative flexibility. In the next step, the results should be tested in a dynamic environment with a moving phantom and on the cadaver.

Hybrid optical and electromagnetic navigation for mandibular angle osteotomy

Surgical navigation systems are extensively employed to enhance the accuracy and safety of traditional surgeries. However, current single-mode systems, using either optical navigation or electromagnetic (EM) navigation, suffer from either occlusion or magnetic interference when simultaneously tracking the mandible and surgical saw in mandibular angle osteotomy (MAO). To resolve this, we propose a hybrid optical and EM navigation system (HOENS), utilizing optical navigation to track the surgical saw and EM navigation to track the mandible. A distance-based automatic hybrid navigation strategy is introduced to integrate both navigation approaches, leveraging the strengths of each. We conducted experiments with mandible phantoms to verify the effectiveness and accuracy of HONES. Results demonstrate that under laboratory conditions, with some nearby metallic interference, HOENS achieves an average hybrid navigation accuracy below 2 mm. Further evaluation of magnetic interference from the surgical saw on the EM sensor validated the necessity of our hybrid navigation strategy. Finally, we conducted osteotomy experiments on the mandible phantoms, where HOENS operated normally and provided precise visual guidance, with an average setup time of less than 20 min. Consequently, HOENS is feasible and effective for assisting surgeons in MAO, meeting clinical accuracy requirements, and shows promising potential for future clinical applications.

Hybrid registration of the fibula for electromagnetically navigated osteotomies in mandibular reconstructive surgery: a phantom study

PURPOSE

In mandibular reconstructive surgery with free fibula flap, 3D-printed patient-specific cutting guides are the current state of the art. Although these guides enable accurate transfer of the virtual surgical plan to the operating room, disadvantages include long waiting times until surgery and the inability to change the virtual plan intraoperatively in case of tumor growth. Alternatively, (electromagnetic) surgical navigation combined with a non-patient-specific cutting guide could be used, requiring accurate image-to-patient registration. In this phantom study, we evaluated the accuracy of a hybrid registration method for the fibula and the additional error that is caused by navigating with a prototype of a novel non-patient-specific cutting guide to virtually planned osteotomy planes.

METHODS

The accuracy of hybrid registration and navigation was assessed in terms of target registration error (TRE), angular difference, and length difference of the intended fibula segments using three 3D-printed fibular phantoms with assessment points on osteotomy planes. Using electromagnetic tracking, hybrid registration was performed with point registration followed by surface registration on the lateral fibular surface. The fibula was fixated in the non-patient-specific cutting guide to navigate to planned osteotomy planes after which the accuracy was assessed.

RESULTS

Registration was achieved with a mean TRE, angular difference, and segment length difference of 2.3 ± 0.9 mm, 2.1 ± 1.4°, and 0.3 ± 0.3 mm respectively after hybrid registration. Navigation with the novel cutting guide increased the length difference (0.7 ± 0.6 mm), but decreased the angular difference (1.8 ± 1.3°).

CONCLUSION

Hybrid registration showed to be a feasible and noninvasive method to register the fibula in phantom setup and could be used for electromagnetically navigated osteotomies with a novel non-patient-specific cutting guide. Future studies should focus on testing this registration method in clinical setting.

Evaluation of the Dimensional Accuracy of Robot-Guided Laser Osteotomy in Reconstruction with Patient-Specific Implants-An Accuracy Study of Digital High-Tech Procedures

Background/Objective: With the rapid advancement in surgical technologies, new workflows for mandibular reconstruction are constantly being evaluated. Cutting guides are extensively employed for defining osteotomy planes but are prone to errors during fabrication and positioning. A virtually defined osteotomy plane and drilling holes in robotic surgery minimize potential sources of error and yield highly accurate outcomes. Methods: Ten mandibular replicas were evaluated after cutting-guided saw osteotomy and robot-guided laser osteotomy following reconstruction with patient-specific implants. The descriptive data analysis summarizes the mean, standard deviation (SD), median, minimum, maximum, and root mean square (RMS) values of the surface comparison for 3D printed models regarding trueness and precision. Results: The saw group had a median trueness RMS value of 2.0 mm (SD ± 1.7) and a precision of 1.6 mm (SD ± 1.4). The laser group had a median trueness RMS value of 1.2 mm (SD ± 1.1) and an equal precision of 1.6 mm (SD ± 1.4). These results indicate that robot-guided laser osteotomies have a comparable accuracy to cutting-guided saw osteotomies, even though there was a lack of statistical significance. Conclusions: Despite the limited sample size, this digital high-tech procedure has been shown to be potentially equivalent to the conventional osteotomy method. Robotic surgery and laser osteotomy offers enormous advantages, as they enable the seamless integration of precise virtual preoperative planning and exact execution in the human body, eliminating the need for surgical guides in the future.

Reducing the risk of tooth injury in anterior maxillary interdental osteotomy for cleft lip and palate patients using a surgical navigation technique

The aim of this study was to investigate the clinical feasibility of preventing tooth injury from anterior maxillary interdental osteotomy by using a surgical navigation technique. A retrospective review was conducted on cleft lip and palate patients treated with anterior maxillary osteotomy followed by distraction osteogenesis between August 2019 and May 2022. Patients operated on through image guidance were enrolled in the navigation group, while those who were operated on freehand were enrolled in the freehand group. Tooth injuries were identified on postoperative images. Linear and angular deviations of the osteotomy line were measured. Twelve patients were enrolled in the study, seven in the navigation group and five in the freehand group. Altogether, 24 osteotomy lines and 53 adjacent teeth were evaluated. The dental injury rate was 3% in the navigation group and 27% in the freehand group (P = 0.016). The average linear deviations (mean ± standard deviation) were 0.67 ± 0.30 mm and 2.05 ± 1.33 mm, respectively (P < 0.001), while the average angular deviations were 1.67 ± 0.68° and 11.41 ± 7.46°, respectively (P < 0.001). The results suggest that navigation was able to reduce the tooth injury risk compared with freehand interdental osteotomies in crowded dental arches.

Modern Image-Guided Surgery: A Narrative Review of Medical Image Processing and Visualization

Medical image analysis forms the basis of image-guided surgery (IGS) and many of its fundamental tasks. Driven by the growing number of medical imaging modalities, the research community of medical imaging has developed methods and achieved functionality breakthroughs. However, with the overwhelming pool of information in the literature, it has become increasingly challenging for researchers to extract context-relevant information for specific applications, especially when many widely used methods exist in a variety of versions optimized for their respective application domains. By being further equipped with sophisticated three-dimensional (3D) medical image visualization and digital reality technology, medical experts could enhance their performance capabilities in IGS by multiple folds. The goal of this narrative review is to organize the key components of IGS in the aspects of medical image processing and visualization with a new perspective and insights. The literature search was conducted using mainstream academic search engines with a combination of keywords relevant to the field up until mid-2022. This survey systemically summarizes the basic, mainstream, and state-of-the-art medical image processing methods as well as how visualization technology like augmented/mixed/virtual reality (AR/MR/VR) are enhancing performance in IGS. Further, we hope that this survey will shed some light on the future of IGS in the face of challenges and opportunities for the research directions of medical image processing and visualization.

Intraoral Condylectomy with 3D-Printed Cutting Guide versus with Surgical Navigation: An Accuracy and Effectiveness Comparison

This study compares the accuracy and effectiveness of our novel 3D-printed titanium cutting guides with intraoperative surgical navigation for performing intraoral condylectomy in patients with mandibular condylar osteochondroma (OC). A total of 21 patients with mandibular condylar OC underwent intraoral condylectomy with either 3D-printed cutting guides (cutting guide group) or with surgical navigation (navigation group). The condylectomy accuracy in the cutting guide group and navigation group was determined by analyzing the three-dimensional (3D) discrepancies between the postoperative computed tomography (CT) images and the preoperative virtual surgical plan (VSP). Moreover, the improvement of the mandibular symmetry in both groups was determined by evaluating the chin deviation, chin rotation and mandibular asymmetry index (AI). The superimposition of the condylar osteotomy area showed that the postoperative results were very close to the VSP in both groups. The mean 3D deviation and maximum 3D deviation between the planned condylectomy and the actual result were 1.20 ± 0.60 mm and 2.36 ± 0.51 mm in the cutting guide group, and 1.33 ± 0.76 mm and 4.27 ± 1.99 mm in the navigation group. Moreover, the facial symmetry was greatly improved in both groups, indicated by significantly decreased chin deviation, chin rotation and AI. In conclusion, our results show that both 3D-printed cutting-guide-assisted and surgical-navigation-assisted methods of intraoral condylectomy have high accuracy and efficiency, while using a cutting guide can generate a relatively higher surgical accuracy. Moreover, our cutting guides exhibit user-friendly features and simplicity, which represents a promising prospect in everyday clinical practice.

Accuracy and Technical Predictability of Computer Guided Bone Harvesting from the Mandible: A Cone-Beam CT Analysis in 22 Consecutive Patients

This study assesses the accuracy and technical predictability of a computer-guided procedure for harvesting bone from the external oblique ridge using a patient-specific cutting guide. Twenty-two patients needing bone augmentation for implant placement were subjected to mandibular osteotomy employing a case-specific stereolithographic surgical guide generated through computer aided design. Differences between planned and real cut planes were measured comparing pre- and post-operative Cone Beam Computed Tomography images of the donor site according to six validated angular and displacement indexes. Accuracy and technical predictability were assessed for 119 osteotomy planes over the study population. Three different guide fitting approaches were compared. An average root-mean-square discrepancy of 0.52 (0.30-0.97) mm was detected. The accuracy of apical and medial planes was higher than the mesial and distal planes due to occasional antero-posterior guide shift. Fitting the guide with an extra reference point on the closest tooth performed better than using only the bone surface, with two indexes significantly lower and less disperse. The study showed that the surgical plan was actualized with a 1 mm safety margin, allowing effective nerve preservation and reducing technical variability. When possible, surgical guide design should allow fitting on the closest tooth based on both radiological and/or intra-oral scan data.

A hybrid registration method using the mandibular bone surface for electromagnetic navigation in mandibular surgery

PURPOSE

To utilize navigated mandibular (reconstructive) surgery, accurate registration of the preoperative CT scan with the actual patient in the operating room (OR) is required. In this phantom study, the feasibility of a noninvasive hybrid registration method is assessed. This method consists of a point registration with anatomic landmarks for initialization and a surface registration using the bare mandibular bone surface for optimization.

METHODS

Three mandible phantoms with reference notches on two osteotomy planes were 3D printed. An electromagnetic tracking system in combination with 3D Slicer software was used for navigation. Different configurations, i.e., different surface point areas and number and configuration of surface points, were tested with a dentate phantom (A) in a metal-free environment. To simulate the intraoperative environment and different anatomies, the registration procedure was also performed with an OR bed using the dentate phantom and two (partially) edentulous phantoms with atypical anatomy (B and C). The accuracy of the registration was calculated using the notches on the osteotomy planes and was expressed as the target registration error (TRE). TRE values of less than 2.0 mm were considered as clinically acceptable.

RESULTS

In all experiments, the mean TRE was less than 2.0 mm. No differences were found using different surface point areas or number or configurations of surface points. Registration accuracy in the simulated intraoperative setting was-mean (SD)-0.96 (0.22), 0.93 (0.26), and 1.50 (0.28) mm for phantom A, phantom B, and phantom C.

CONCLUSION

Hybrid registration is a noninvasive method that requires only a small area of the bare mandibular bone surface to obtain high accuracy in phantom setting. Future studies should test this method in clinical setting during actual surgery.

Electromagnetic surgical navigation in patients undergoing mandibular surgery

The purpose of this study was to evaluate the feasibility of electromagnetic (EM) navigation for guidance on osteotomies in patients undergoing oncologic mandibular surgery. Preoperatively, a 3D rendered model of the mandible was constructed from diagnostic computed tomography (CT) images. Cutting guides and patient specific reconstruction plates were designed and printed for intraoperative use. Intraoperative patient registration was performed using a cone beam CT scan (CBCT). The location of the mandible was tracked with an EM sensor fixated to the mandible. The real-time location of both the mandible and a pointer were displayed on the navigation system. Accuracy measurements were performed by pinpointing four anatomical landmarks and four landmarks on the cutting guide using the pointer on the patient and comparing these locations to the corresponding locations on the CBCT. Differences between actual and virtual locations were expressed as target registration error (TRE). The procedure was performed in eleven patients. TREs were 3.2 ± 1.1 mm and 2.6 ± 1.5 mm using anatomical landmarks and landmarks on the cutting guide, respectively. The navigation procedure added on average half an hour to the duration of the surgery. This is the first study that reports on the accuracy of EM navigation in patients undergoing mandibular surgery.

Utilization of a 3D printed dental splint for registration during electromagnetically navigated mandibular surgery

PURPOSE

A dental splint was developed for non-invasive rigid point-based registration in electromagnetically (EM) navigated mandibular surgery. Navigational accuracies of the dental splint were compared with the common approach, that is, using screws as landmarks.

METHODS

A dental splint that includes reference registration notches was 3D printed. Different sets of three points were used for rigid point-based registration on a mandibular phantom: notches on the dental splint only, screws on the mandible, contralateral screws (the side of the mandible where the sensor is not fixated) and a combination of screws on the mandible and notches on the dental splint. The accuracy of each registration method was calculated using 45 notches at one side of the mandible and expressed as the target registration error (TRE).

RESULTS

Average TREs of 0.83 mm (range 0.7-1.39 mm), 1.28 mm (1.03-1.7 mm), 2.62 mm (1.91-4.0 mm), and 1.34 mm (1.30-1.39 mm) were found, respectively, for point-based registration based on the splint only, screws on the mandible, screws on the contralateral side only, and screws combined with the splint.

CONCLUSION

For dentate patients, rigid point-based registration performs best utilizing a dental splint with notches. The dental splint is easy to implement in the surgical, and navigational, workflow, and the notches can be pinpointed and designated on the CT scan with high accuracy. For edentate patients, screws can be used for rigid point-based registration. However, a new design of the screws is recommended to improve the accuracy of designation on the CT scan.