Computer-assisted three-dimensional surgical planning: 3D virtual articulator: technical note

A semi-automated tool for digital and mechanical articulators comparative analysis of condylar path elements

Digital workflows have revolutionized dentistry, especially when it comes to fabrication of complete dentures through Computer-Aided Design and Computer-Aided Manufacturing (CAD-CAM) procedures. Digital articulators manage to simulate mandibular movements and are emerging as alternatives to mechanical articulators like the Gerber semi-adjustable model. Despite being a promising tool, digital articulators require refinement in order to grant consistent functionality and effective occlusal balance. The aim of this research is to present a semi-automated MATLAB tool designed to compare trajectories from different articulator types-digital versus analog-used in dental practice. Validation of the MATLAB tool compared to existing data demonstrates its reliability and effectiveness. Sensitivity analyses assess the tool's robustness under various settings. Results suggest optimal input parameters and settings ensuring precision. Future developments may include integrating anatomically-based reference systems and advanced metrics for rotational analysis of condylar path elements (CPEs), thereby enhancing digital dentistry potentialities. Ultimately, the semi-automated MATLAB tool represents a significant step towards improving dental occlusal analysis, bridging the gap between analog and digital methodologies and enabling comparison among these tools.

An overview of the different digital facebow methods for transferring the maxillary cast into the virtual articulator

OBJECTIVES

The purposes of this study were to classify the described digital facebow techniques for transferring the maxillary cast into the semi-adjustable virtual articulator based on the digital data acquisition technology used and to review the reported accuracy values of the different digital facebow methods described.

OVERVIEW

Digital data acquisition technologies, including digital photographs, facial scanners, cone beam computed tomography (CBCT) imaging, and jaw tracking systems, can be used to transfer the maxillary cast into the virtual articulator. The reported techniques are reviewed, as well as the reported accuracy values of the different digital facebow methods.

CONCLUSIONS

Digital photographs can be used to transfer the maxillary cast into the virtual articulator using the true horizontal reference plane, but limited studies have assessed the accuracy of this method. Facial scanning and CBCT techniques can be used to transfer the maxillary cast into the virtual articulator, in which the most frequently selected references planes are the Frankfort horizontal, axis orbital, and true horizontal planes. Studies analyzing the accuracy of the maxillary cast transfer by using facial scanning and CBCT techniques are restricted. Lastly, optical jaw trackers can be selected for transferring the maxillary cast into the virtual articulator by using the axis orbital or true horizontal planes, yet the accuracy of these systems is unknown.

CLINICAL IMPLICATIONS

Digital data acquisition technologies, including digital photographs, facial scanning methods, CBCTs, and optical jaw tracking systems, can be used to transfer the maxillary cast into the virtual articulator. Studies are needed to assess the accuracy of these digital data acquisition technologies for transferring the maxillary cast into the virtual articulator.

Accuracy of the maxillary cast transfer into the virtual semi-adjustable articulator by using analog and digital facebow record methods

STATEMENT OF PROBLEM

Different digital methods have been described for transferring the maxillary cast into a virtual articulator; however, its accuracy remains uncertain.

PURPOSE

The purpose of this in vitro study was to compare the accuracy of the maxillary cast transfer into the virtual semi-adjustable articulator by using analog and digital methods.

MATERIAL AND METHODS

A maxillary typodont with 5 markers was positioned into a mannequin, which was digitized by using an industrial scanner (ATOS Q) and an extraoral scan of the typodont obtained (T710). Three groups were created based on the technique used to transfer the maxillary cast into the virtual articulator (Panadent PCH Articulator): conventional facebow record (CNV group), digital photograph (P group), and facial scanning (FS group) (n=10). In the CNV group, conventional facebow records (Kois Dentofacial analyzer system) were digitized (T710) and used to mount the maxillary scan into the articulator by aligning it with the reference platform (Kois adjustable platform) (DentalCAD). In the P group, photographs with the reference glasses (Kois Reference Glasses 3.0) were positioned in the mannequin. Each photograph was superimposed with the maxillary scan. Then, the maxillary scan was transferred into the virtual articulator by using the true horizontal plane information of the photograph. In the FS group, facial scans with an extraoral scan body (Kois Scan Body) were positioned in the mannequin by using a facial scanner (Instarisa). The extraoral scan body was digitized by using the same extraoral scanner. The digitized extraoral scan body provided the true horizontal plane information that was used to mount the maxillary scan into the articulator, along with the Kois disposable tray of the scan body. On the reference scan and each specimen, 15 linear measurements between the markers of the maxillary scans and the horizontal plane of the virtual articulator and 3 linear measurements between the maxillary dental midline and articulator midline were calculated. The measurements of the reference scan were used as a control to assess trueness and precision. Trueness was analyzed by using 1-way ANOVA followed by the pairwise comparison Tukey tests (α=.05). Precision was evaluated by using the Levene and pairwise comparisons Wilcoxon Rank sum tests.

RESULTS

No significant trueness (P=.996) or precision (P=.430) midline discrepancies were found. Significant posterior right (P<.001), anterior (P=.005), posterior left (P<.001), and overall (P<.001) trueness discrepancies were revealed among the groups. The P group obtained the best posterior right, posterior left, and overall trueness and precision. The P and FS groups demonstrated the best anterior trueness, but no anterior precision discrepancies were found.

CONCLUSIONS

The techniques tested affected the accuracy of the maxillary cast transfer into the virtual semi-adjustable articulator. In the majority of the parameters assessed, the photography method tested showed the best trueness and precision values. However, the maxillary cast transfer accuracy ranged from 137 ±44 µm to 453 ±176 µm among the techniques tested.

Accuracy comparison of the maxillary cast transfer into the virtual semi-adjustable articulator between an analog facebow record and a digital photography technique

STATEMENT OF PROBLEM

Digital photographs can be used for transferring the maxillary cast into the virtual semi-adjustable articulator; however, its accuracy remains unknown.

PURPOSE

The purpose of the present study was to compare the accuracy of the maxillary cast transfer into the virtual semi-adjustable articulator by using an analog and a digital standardized photography technique.

MATERIAL AND METHODS

A maxillary cast was digitized (T710) and positioned into a dental mannequin. The dental midline was not coincident with the facial midline and the maxillary occlusal plane was tilted. A reference scan of the assembled mannequin was obtained by using a facial scanner (Instarisa). Two groups were created based on the technique used to transfer the maxillary cast into the articulator (Panadent PCH): conventional facebow record (CNV group) or digital photograph (Photo group) (n=10). In the CNV group, facebow records (Kois Dentofacial analyzer system) were digitized (T710) and used to transfer the maxillary scan into the articulator by aligning it with the reference platform (Kois adjustable platform). In the Photo group, photographs with a reference glasses (Kois Reference Glasses) positioned into the mannequin were acquired. Each photograph was aligned with the maxillary scan. Then, the maxillary scan was transferred into the articulator by using the true horizontal axis information contained in the photograph. On the reference scan and each specimen, 10 linear measurements between the buccal cusps of the maxillary scan and the horizontal plane of the virtual articulator and a linear measurement between the maxillary dental midline and articulator midline were calculated. The measurements of the reference scan were used as a control to compute trueness and precision. Trueness was analyzed by using 1-way ANOVA followed by the pairwise comparison Tukey test (α=.05). Precision was evaluated by using the Levene and Wilcoxon Rank sum tests (α=.05).

RESULTS

The overall discrepancy measured in the CNV group was 0.620 ±0.396 mm, while in the Photo group it was 1.282 ±0.118 mm. Significant trueness differences were found in the midline (P=.037), anterior (P=.050), posterior right (P<.001), posterior left (P=.012), and overall discrepancy (P<.001) between the CNV and Photo groups. Significant precision discrepancies were found in the midline (P=.012), posterior right (P<.001), anterior (P<.001), posterior left (P=.002), and overall discrepancy (P<.001) between the CNV and Photo groups.

CONCLUSIONS

The facebow record method impacted the accuracy of the maxillary cast transfer. The Photo group obtained better trueness in the midline transfer than the CNV group; however, the CNV group demonstrated better trueness in the anterior, posterior right, posterior left, and overall discrepancy of the maxillary cast transfer compared with the Photo group. Overall, the Photo group obtained better precision than the CNV group.

A new technique to transfer the upper maxillary arch position using a facebow, a transfer table, and a reference block with a CAD application

This paper presents a method for the digital transfer of the upper maxillary arch position using a facebow, a transfer table, and a reference block with a CAD application without requiring physical casts mounted with articulating gypsum. This technique facilitates the prosthetic digital workflow when the impression is made via intraoral scanning, to obtain the placement of the maxillary arch in the anatomical reference planes and in relation to the axes of rotation of the mandibular movements.

Comparison of the accuracy of a cone beam computed tomography-based virtual mounting technique with that of the conventional mounting technique using a facebow

STATEMENT OF PROBLEM

The introduction of digital technology in dentistry has resulted in a shift from conventional methods to digital techniques. However, mounting a digitized dental cast on a virtual articulator is challenging. Several techniques have been suggested to resolve this problem, but in the absence of a standardized method, digitized dental casts are often mounted arbitrarily on a virtual articulator.

PURPOSE

The purpose of this clinical study was to compare the accuracy of a novel virtual facebow transfer (VM) technique based on cone beam computed tomography (CBCT) with that of the conventional mounting (CM) technique using a facebow.

MATERIAL AND METHODS

Five repeated mountings were performed with each technique for 15 participants. In the CM group, dental casts were mounted using a facebow record and scanned for transmission to the virtual dental space. In the VM group, digital dental casts were mounted on the standard tessellation language file of a reference articulator by reconstructing a file of the participant's skull from CBCT data. In this group, a virtual facebow, prepared by scanning the articulator and facebow complex, was used. After the CM and VM casts had been aligned, the coordinates of target points set on the maxillary right central incisor, maxillary right first molar, and maxillary left first molar were determined, and the mean ±standard deviation distance between the target points was calculated to compare the precision of the techniques. Additionally, vectors of the target point on the maxillary right central incisor were compared to analyze the spatial difference between the techniques. Finally, the occlusal plane angle was calculated. For the correlation analysis of repeated measured data, a 1-way repeated measures analysis of variance (ANOVA) was first performed. The Kolmogorov-Smirnov test was performed to determine normality, and a paired t test and the Wilcoxon signed rank test were performed for normally and nonnormally distributed variables, respectively (α=.05).

RESULTS

The mean distance between target points was significantly greater in the CM group (4.72 ±1.45 to 5.17 ±1.54 mm) than in the VM group (2.14 ±0.58 to 2.35 ±0.60 mm) (P<.05). The standard deviation between target points was significantly greater in the CM group (1.60 ±0.64 to 2.30 ±0.87 mm) than in the VM group (0.74 ±0.23 to 1.12 ±0.45 mm) (P<.05). The maxillary right central incisor was located more anteriorly in the VM group than in the CM (100%, P<.05) group. The occlusal plane angle was significantly steeper in the CM group than in the VM group (8.14 degrees versus 2.13 degrees, P<.05).

CONCLUSIONS

The VM technique was more precise than the CM technique. VM casts were positioned ahead of CM casts. Further, the occlusal plane angle tended to be steeper with the CM technique than with the VM technique.

Chairside virtual patient protocol. Part 3: In vitro accuracy of a digital facebow

OBJECTIVES

The present study aimed to investigate the trueness and precision of an intraoral transfer element (IOTE) designed for matching intraoral and facial scans.

METHODS

A mannequin head with a maxillary model in position was used. Cone beam computed tomography (CBCT) was used to construct the master model (MM). A digital impression of the maxillary arch was taken using an intraoral scanner, and the IOTE was used to record the maxillary arch position. Twenty facial scans with and twenty without the IOTE in place were performed with a handheld device (Ipad Pro, Apple) using a dedicated software. Digital mounting was performed to build a scan model (SM). Using software for data processing, the three-dimensional deviation between the MM and SM at the central left incisor (#9#), and the left and right first molars (#3#, #14#) was calculated as trueness and linear deviation precision. . Angular deviation was also calculated at the occlusal plane.

RESULTS

The linear deviation trueness at #9#, #3# and #14# was 0.3 ± 0.12 mm, 1.07 ± 0.28 mm, and 0.18 ± 0.34 mm, respectively, whereas the precision was 1.17 ± 0.4 mm, 0.43 ± 0.12 mm, and 0.64 ± 0.28 mm, respectively. Trueness of the angular deviation at the occlusal plane was 2.17 ± 0.46°, whereas the angular deviation precision was 0.64 ± 0.28°.

CONCLUSIONS

Based on in vitro findings the proposed IOTE design is accurate and suitable for clinical use.

CLINICAL SIGNIFICANCE

Direct virtual mounting is a reliable technique in vitro; however, in vivo tests are required.

Additively manufactured scan body for transferring a virtual 3-dimensional representation to a digital articulator for completely edentulous patients

A technique is described for obtaining a virtual 3-dimensional representation of completely edentulous patients with the virtual definitive casts mounted on the virtual articulator. An additively manufactured intraoral scan body was developed to record the definitive maxillary and mandibular casts and gothic arch interocclusal registration. The intraoral scan body guided the integration of the digital definitive casts and facial scans to obtain the virtual 3-dimensional patient's representation and facilitated the transfer of the definitive casts to the virtual articulator.

A Clinical Application Study of Mixed Reality Technology Assisted Lumbar Pedicle Screws Implantation

Background

This was a prospective comparative study of mixed reality (MR) technology assisted lumbar pedicle screws placement and traditional lumbar pedicle screws placement.

Material/Methods

Fifty cases of lumbar pedicle screws placement were randomly divided into 2 groups: 25 cases with MR technology in group A, and 25 cases without MR technology in group B. All patients had their scores on the Oswestry disability index (ODI) of low back pain and the visual analog scale (VAS) of the affected lower limb recorded at pre-operation. Blood loss, operative duration, success rate of first penetration by tap, and number of times C-arm fluoroscopy was performed were recorded at intraoperation. The postoperative drainage was recorded. The ODI of low back pain and VAS of the affected lower limb were recorded at 1, 3, and 6 months after operation.

Results

Group A had less bleeding, shorter operation time, higher success rate of first penetration by tap, and fewer times using C-arm fluoroscopy at intraoperation (P<0.05). There was significant difference in ODI scores and VAS scores at 1 mouth after operation (P<0.05). The postoperative drainage of group A was less than group B (P<0.05). The implantation accuracy of group A was higher than group B (P<0.05). The postoperative recovery rate of low back pain of group A was faster than group B (P<0.05).

Conclusions

The safety of spinal surgery and implantation accuracy of pedicle screw fixation system could be increased by MR technology.

Percutaneous kyphoplasty assisted with/without mixed reality technology in treatment of OVCF with IVC: a prospective study

Background

The purpose of this study was to assess the clinical outcome of percutaneous kyphoplasty (PKP) assisted with mixed reality (MR) technology in treatment of osteoporotic vertebral compression fracture (OVCF) with intravertebral vacuum cleft (IVC).

Method

Forty cases of OVCF with IVC undergoing PKP were randomized into a MR technology-assisted group (group A) and a traditional C-arm fluoroscopy group (group B). Both groups were performed PKP and evaluated by VAS scores, ODI scores, radiological evidence of vertebral body height, and kyphotic angle (KA) at pre-operation and post-operation. The volume of injected cement, fluoroscopy times, and operation time were recorded. And cases of non-PMMA-endplates-contact(NPEC) in radiological evidence was also recorded postoperatively. The clinical outcomes and complications were evaluated afterwards. All patients received 10 to 14 months follow-up, with an average of 12 months.

Result

This MR-assisted group (group A) acquired more about the amount of the polymethyl methacrylate (PMMA) injection and postoperative vertebral height and less about postoperative KA, fluoroscopy times, and operation time compared with the control group (group B) (P < 0.05). The VAS scores and ODI scores in both groups have improved, but more significantly in group A (P < 0.05). Also, more cases achieve both-endplates-touching of cement in group A (P < 0.05). And there are less of the loss of vertebral height, KA, and occurrence of re-collapse of the vertebra in group A during the follow-up (P < 0.05).

Conclusion

PKP assisted with MR technology can accurately orientate the position of IVC area, which can be augmented by the balloon leading to more satisfied vertebral height improvement, cement diffusion, and pain relief.

Trial registration

ClinicalTrials.gov Identifier: NCT03959059. Registered 25 September 2016.

Virtual facebow technique using standardized background images

The procedure described provides a novel and accessible virtual facebow transfer based on standardized photographs loaded in the virtual articulator module of a computer-assisted design and computer-assisted manufacturing (CAD-CAM) software program for dental applications. The practical application of the technique in a digital workflow is the correct alignment of the digital maxillary cast to the virtual articulator with respect to the patient's planes and the skin markings of the condylar axis.

Real-time augmented model guidance for mandibular proximal segment repositioning in orthognathic surgery, using electromagnetic tracking

It is essential to reposition the mandibular proximal segment (MPS) as close to its original position as possible during orthognathic surgery. Conventional methods cannot pinpoint the exact position of the condyle in the fossa in real time during repositioning. In this study, based on an improved registration method and a separable electromagnetic tracking tool, we developed a real-time, augmented, model-guided method for MPS surgery to reposition the condyle into its original position more accurately. After virtual surgery planning, using a complex maxillomandibular model, the final position of the virtual MPS model was simulated via 3D rotations. The displacements resulting from the MPS simulation were applied to the MPS landmarks to indicate their final postoperative positions. We designed a new registration body with 24 fiducial points for registration, and determined the optimal point group on the registration body through a phantom study. The registration between the patient's CT image and physical spaces was performed preoperatively using the optimal points. We also developed a separable frame for installing the electromagnetic tracking tool on the patient's MPS. During MPS surgery, the electromagnetic tracking tool was repeatedly attached to, and separated from, the MPS using the separable frame. The MPS movement resulting from the surgeon's manipulation was tracked by the electromagnetic tracking system. The augmented condyle model and its landmarks were visualized continuously in real time with respect to the simulated model and landmarks. Our method also provides augmented 3D coronal and sagittal views of the fossa and condyle, to allow the surgeon to examine the 3D condyle-fossa positional relationship more accurately. The root mean square differences between the simulated and intraoperative MPS models, and between the simulated and postoperative CT models, were 1.71 ± 0.63 mm and 1.89 ± 0.22 mm respectively at three condylar landmarks. Thus, the surgeons could perform MPS repositioning conveniently and accurately based on real-time augmented model guidance on the 3D condyle positional relationship with respect to the glenoid fossa, using augmented and simulated models and landmarks.

Influence of Head Orientation in Linear Measurement for Implant Planning in Cone Beam Computed Tomography

AIM

Use of dental implants in edentulous patients has become a common treatment modality. Treatment of such implants requires radiographic evaluation, and in most cases several different imaging techniques are necessary in order to evaluate the height, width and the structure of bone at implant site. The aim of this study was to evaluate the influence of head orientation in linear measurement for implant planning in cone beam computed tomography (CBCT).

MATERIALS AND METHODS

In the present in vitro study, 11 human dry mandibles were used. The width and height of bone at the central, canine and molar teeth areas were measured on the left and right sides by using digital calipers (as gold standard) and on CBCT images with Reaxis option and no Reaxis. Data were analyzed with Statistical package for the social sciences (SPSS) 18, using pair t-test, Tukey test and intraclass correlation (ICC).

RESULTS

Data were collected by evaluation of 11 skulls and 66 samples on the whole. There were no significant differences in bone width in any area in both Reaxis and no Reaxis option (p > 0.05). There were significant differences in bone height in the central (p = 0.005) and molar teeth areas (p = 0.010). The results did not show any significant differences between the observers (p = 0.329).

CONCLUSION

Using the Reaxis option does not affect the measurement of bone width, while use of this option can make a significant difference for height measurements.

Automatic Superimposition of Palatal Fiducial Markers for Accurate Integration of Digital Dental Model and Cone Beam Computed Tomography

PURPOSE

Obtaining a detailed dentition image is important for 3-dimensional orthognathic surgical simulation. The purpose of the present study was to evaluate the accuracy of a method using automatic superimposition of intraoral fiducial markers for integrating the digital dental model with the cone beam computed tomography (CBCT) scan.

PATIENTS AND METHODS

A preliminary test was performed on a plastic skull model for the proper selection of the size and number of the fiducial markers fixed to the palatal plate. Five patients were enrolled in the present study. Plaster dental models were taken and scanned. Integration of the upper dental and occlusion dental image with the CBCT scan was performed by superimposition of the markers. The occlusion dental image was used to connect the lower dental image and the corresponding position of the CBCT mandibular dentition. The root mean square difference (RMSD) was used to evaluate the accuracy of fiducial marker superimposition, and the Euclidean distances were measured between 2 occlusion surfaces to evaluate the registration accuracy.

RESULTS

The RMSD was less than 0.13 mm in the superimposition of fiducial markers, and the Euclidean distance was less than 0.28 mm in the occlusal surface deviation. The results showed high accuracy on integration. The patients reported good tolerance to the markers.

CONCLUSION

This superimposition method provided high accuracy for the replacement of dentition using CBCT and was patient- and user-friendly for clinical application.

The role of virtual articulator in prosthetic and restorative dentistry

Virtual reality is a computer based technology linked with the future of dentistry and dental practice. The virtual articulator is one such application in prosthetic and restorative dentistry based on virtual reality that will significantly reduce the limitations of the mechanical articulator, and by simulation of real patient data, allow analyses with regard to static and dynamic occlusion as well as to jaw relation. It is the purpose of this article to present the concepts and strategies for a future replacement of the mechanical articulator by a virtual one. Also, a brief note on virtual reality haptic system has been highlighted along with newly developed touch enabled virtual articulator.

The University Münster Model Surgery System for Orthognathic Surgery. Part II -- KD-MMS

Background

Model surgery is an integral part of the planning procedure in orthognathic surgery. Most concepts comprise cutting the dental cast off its socket. The standardized spacer plates of the KD-MMS provide for a non-destructive, reversible and reproducible means of maxillary and/or mandibular plaster cast separation.

Methods

In the course of development of the system various articulator types were evaluated with regard to their capability to provide a means of realizing the concepts comprised of the KD-MMS. Special attention was dedicated to the ability to perform three-dimensional displacements without cutting of plaster casts. Various utilities were developed to facilitate maxillary displacement in accordance to the planning. Objectives of this development comprised the ability to implement the values established in the course of two-dimensional ceph planning.

Results

The system - KD-MMS comprises a set of hardware components as well as a defined procedure. Essential hardware components are red spacer and blue mounting plates. The blue mounting plates replace the standard yellow SAM mounting elements. The red spacers provide for a defined leeway of 8 mm for three-dimensional movements. The non-destructive approach of the KD-MMS makes it possible to conduct different model surgeries with the same plaster casts as well as to restore the initial, pre-surgical situation at any time. Thereby, surgical protocol generation and gnathologic splint construction are facilitated.

Conclusions

The KD-MMS hardware components in conjunction with the defined procedures are capable of increasing efficiency and accuracy of model surgery and splint construction. In cases where different surgical approaches need to be evaluated in the course of model surgery, a significant reduction of chair time may be achieved.

Virtual articulator for the analysis of dental occlusion: an update

The future of dental practice is closely linked to the utilization of computer-based technology, specifically virtual reality, which allows the dental surgeon to simulate true life situations in patients. The virtual articulator has been designed for the exhaustive analysis of static and dynamic occlusion, with the purpose of substituting mechanical articulators and avoiding their errors. These tools will help both odontologists and dental prosthetists to provide the best individualized treatment for each patient. The present review analyzes the studies published in the literature on the design, functioning and applications of virtual articulators. A Medline-PubMed search was made of dental journals, with the identification of 137 articles, of which 16 were finally selected. The virtual articulator can simulate the specific masticatory movement of the patient. During mandibular animation, the program calculates the sites where the opposing teeth come into contact. The studies made to assess the reliability of the virtual articulator show good correspondence in visualization of the number and position of the dynamic contacts. The virtual articulator is a precise tool for the full analysis of occlusion in a real patient.

Key words: Virtual articulator, dental occlusion, dental articulator.