Computer-assisted surgery in medical and dental applications

Digital Innovations in Orthognathic Surgery: A Systematic Review of Virtual Surgical Planning, Digital Transfer, and Conventional Model Surgery

OBJECTIVES

Orthognathic surgery has evolved due to the use of virtual surgical planning (VSP) and digital model surgery, which are technological advancements replacing conventional approaches with accurate personalised digital models made from computed tomography (CT) or magnetic resonance imaging (MRI) scans. Their integration has enhanced surgical efficiency, patient satisfaction and communication among surgeons and patients, while some challenges such as cybersecurity issues and the requirement for information technology backup have also been noted in hospitals.

MATERIALS AND METHODS

From January 2013 to October 2024, this systematic review aimed at orthognathic surgery virtual planning; it was carried out on the basis of a digital library with 437 works from PubMed, Embase, Cochrane, Web of Science and Scopus searched through an initial selection of specific keywords. The final step is filtering out irrelevant studies through scrutiny, resulting in 25 original interventional studies that met inclusion criteria for quality control purposes via bias analysis.

RESULTS

In relation to the future of orthognathic surgery, it can be advanced by improving VSP, digital transfer techniques and conventional model surgery with technical innovations that need to meet the challenges. The integration of Artificial Intelligence (AI) into VSP can be an opportunity for its development in the sphere of accuracy and visualisation during surgery with augmented reality (AR) utilisation. Among them are the real-time data integration offered by digital transfer techniques, but they are hindered in cost and standardisation. On the other hand, conventional model surgery may revolutionise with three-dimensional (3D) printing; however, there is a long way to go for conventional model surgery to address time constraints as well as ecological concerns. Compatibility issues, training needs and ethical considerations represent three major obstacles that must be tackled successfully so that surgery will have a bright future.

CONCLUSION

Case complexity and patient preferences are important factors that should be considered before making a decision about orthognathic surgery. VSP offers precision for complicated cases. Real-time guidance can be achieved using digital transfer techniques, whereas traditional model surgery provides a tactile, hands-on experience. Analysing digital innovations jointly will enhance orthognathic patient care and education while improving patient safety.

Accuracy and operation procedure of robotic computer-aided implant surgery

This study assessed the accuracy of robotic computer-aided implant surgery (rCAIS) in partially edentulous patients using a standard operation procedure. Patients who underwent implant placement surgeries using the robotic system under a standard operation procedure were recruited. Deviations of dental implants were calculated after superimposition of the preoperative and postoperative cone-beam computed tomography (CBCT) images. The possible effects of the implant regions on these deviations were investigated. A total of 30 participants were enrolled in the study and 44 implants were inserted. The median (25th-75th percentile) global coronal deviation, global apical deviation, and angular deviation were 0.62 mm (0.46-1.00), 0.62 mm (0.49-1.01) and 1.16 (0.69-1.69) °, respectively. The jaw was a factor in the lateral coronal, vertical coronal, and vertical apical deviations (P < 0.05). Both the lateral coronal and apical deviations were greater for immediate implant placements than for delayed implant placements (P < 0.05). The implant dimensions significantly affected the apical deviation (P < 0.05). These results indicate that rCAIS based on a standard operation procedure is safe and accurate in partially edentulous patients. However, there remains a need to optimize robotic systems to simplify the workflow and improve their ability to recognize and respond to complex bone structures. Further clinical studies should also focus on comparing the long-term implant success rate and related complications of rCAIS with traditional approaches.

Efficacy of digital templates in edentulous implant placement: a retrospective study

OBJECTIVES

The aim of the present study is to evaluate the accuracy of a digital template on the three-dimensional accuracy of edentulous implantation through a retrospective study to provide more clinical evidence for the use of digital templates in edentulous patient.

MATERIALS AND METHODS

This study evaluates the efficacy of a digital surgical template in edentulous jaws, comparing preoperative plans with postoperative outcomes across four metrics: platform, apex, depth, and angular deviations. Utilizing a patient with an edentulous maxilla as a case study, this research employs CBCT for preoperative and postoperative assessments, with deviations analyzed via 3-Shape software. Comparing these deviations with average deviations in lierature.

RESULTS

The average platform deviations at positions 12, 14, 16, 22, 24, 26 were 0.98 ± 0.03 mm, 1.43 ± 0.02 mm, 1.27 ± 0.04 mm, 1.35 ± 0.03 mm, 1.34 ± 0.02 mm, and 1.42 ± 0.03 mm, respectively. The average apex deviations were 1.28 ± 0.02 mm, 1.39 ± 0.03 mm, 1.47 ± 0.04 mm, 1.26 ± 0.04 mm, 1.40 ± 0.04 mm, and 1.48 ± 0.03 mm, respectively, the average angular deviations were 3.50°± 0.08°, 2.87°± 0.07°, 3.49°± 0.06°, 3.36°± 0.10°, 3.41°± 0.13°, and 3.69°± 0.11°, and average depth deviations were 0.29 ± 0.03 mm, 0.26 ± 0.05 mm, 0.59 ± 0.05 mm, 0.28 ± 0.04 mm, 0.47 ± 0.02 mm, 0.53 ± 0.03 mm. Compared with a total mean deviation of 1.2 mm (1.04 mm to 1.44 mm) of platform deviation, 1.4 mm (1.28 mm to 1.58 mm) of apex deviation, angular deviation of 3.5°(3.0° to 3.96°) and depth deviation of 0.2 mm (-0.25 mm to 0.57 mm) reported in literature. While all measured deviations fell within clinically acceptable limits, certain parameters exceeded the benchmarks, suggesting areas for improvement in digital surgical planning and execution.

CONCLUSIONS

This study indicates that while all measured deviations fell within clinically acceptable limits, certain parameters exceeded the benchmarks, suggesting areas for improvement in digital surgical planning and execution. Based on these data, the potential of digital guide plates to fulfill precision requirements in edentulous jaw implantation can be proved, contributing valuable insights into the optimization of implant surgery protocols.

CLINICAL RELEVANCE

Now, the digital template is accepted by many doctors. However, clinical research has not thoroughly verified whether the new digital technology is more accurate than traditional technology. So, this study aims to explore the effect of a whole-process digital template on edentulous implantation and provide more clinical evidence.

Dynamic navigation vs. static navigation in implant placement: A meta-analysis

OBJECTIVE

The precision of implant surgery is pivotal to the success of implant outcomes. This meta-analysis was conducted to assess the comparative efficacy of static computer-aided implant surgery (sCAIS) and dynamic computer-aided implant surgery (dCAIS) on the accuracy of implant placement.

METHODS

A systematic search was performed in the Cochrane Library, PubMed, clinical trial registries, Embase, the Chinese National Knowledge Infrastructure (CNKI), Wanfang, and Weipu databases for studies comparing sCAIS and dCAIS up to April 16, 2024. The Newcastle-Ottawa Scale (NOS) was used for the quality assessment of included cohort studies (CSs), and Cochrane Risk of Bias version 2 (RoB2) were utilized to evaluate the risk of bias of included randomized controlled trials (RCTs). The meta-analysis was conducted with RevMan 5.3 software developed by the Cochrane Collaboration.

RESULTS

A total of 9 studies, comprising 4 RCTs and 5 CSs, were included in the final analysis. The meta-analysis revealed that dCAIS significantly reduced implant apical deviation (MD=-0.12, 95% CI: -0.23 to -0.02, P = 0.02) and implant depth deviation (MD=-0.20, 95% CI: -0.34 to -0.06, P = 0.004) compared to sCAIS. However, no significant differences were observed in implant platform deviation (MD=-0.01, 95% CI: -0.08 to 0.06, P = 0.74) and implant angular deviation (MD=-0.30, 95% CI: -0.78 to 0.18, P = 0.22) between the two techniques. Egger's test results indicated no evidence of publication bias across the analyzed outcomes (all P > 0.05).

CONCLUSIONS

The current evidence suggests that dCAIS offers superior implant accuracy over sCAIS.

CLINICAL SIGNIFICANCE

dCAIS may be preferred for use in implant placement. Further high-quality clinical research is necessary to comprehensively evaluate the roles of dCAIS and sCAIS in various types of edentulous conditions, particularly within the context of uniform navigation systems.

Advancements in dental implantology: The alveolar ridge split technique for enhanced osseointegration

The alveolar ridge split (ARS) technique is a pivotal advancement in dental implantology, addressing the limitation of insufficient bone width for implant placement. This review traces the historical development of ARS from its initial conceptualization to current practices and future directions. Emphasizing the technique's development, indications, procedural overview, and osteotomy variations, we highlight its minimally invasive nature, which reduces patient morbidity and treatment time. This article reviews various osteotomy methods within ARS, examining their applications, benefits, and limitations. Furthermore, it discusses the technique's role in expanding treatment options for patients with compromised alveolar structures, underpinned by a high implant survival rate and the potential for immediate implant placement. We also cover the necessity of meticulous surgical technique, the importance of patient-specific factors, and the promising future of ARS facilitated by advancements in biomaterials and regenerative medicine. In summary, this review provides a comprehensive overview of ARS, offering valuable insights for dental professionals and informing future clinical practices and research in implantology.

Digital robot-assisted minimally invasive impacted tooth extraction: A case report

Objective

This study investigated the clinical effects and applicability of minimally invasive impacted teeth extraction using digital robots.

Methods

A marker was bonded to the non-surgical area before surgery. A Cone-Beam Computed Tomography (CBCT) scan was obtained and uploaded to the robot software to determine the drilling position of the ring drill. During the surgery, the robot arm automatically navigated to a predetermined position, and the ring drill removed part of the bone tissue and exposed and extracted the impacted teeth. Finally, the surgeon tightly sutured the wounds to the surgical area.

Results

Three minimally invasive extractions of impacted teeth with robotic assistance were performed without complications. The surgical area showed good healing during the one-month follow-up examination.

Conclusions

Digital robot-assisted minimally invasive extraction of impacted teeth is a highly feasible clinical procedure as it minimises trauma to the surgical area and protects the surrounding blood vessels and nerve bundles, making it a safe and valuable technique with significant potential for clinical application.

The past forty-three years of dental implantology literature. A global mapping and scientometric analysis

PURPOSE

The aim of this research is to make a scientometric analysis of the dental implantology literature and to present the results in a more understandable way to the reader by visualizing them with maps.

METHODS

The dental implantology literature was accessed through the Web of Science database. Scientometric data was obtained with Citespace 6.1 software, co-citation, clustering analysis, citation burst, and mapping analyzes were performed. Scimago Graphica software was used for additional visualizations.

RESULTS

A total of 35,704 articles were included in the analysis. There were 88,616 authors, 72,333 institutes, 142 countries/regions, and 3,265 journals contributing to the dental implantology literature. The United States was first with 7,334 publications and 225,868 citations. The literature between 1980 and 2023 was divided into 19 different clusters, and the literature between 2000 and 2023 was divided into 16 different clusters.

CONCLUSIONS

Key themes in the field include the use of autogenous bone, advancements in implant surface technology, and the use of platform switching and intraoral scanners. Emerging topics of interest include esthetic considerations in the treatment of the anterior region, stress distribution, the use of zirconia, and the impact of implant treatment on oral health-related quality of life. With similar scientometric analysis studies to be done in the future, the progress of the literature can be followed on the basis of evidence.

Accuracy of dental implant placement using different dynamic navigation and robotic systems: an in vitro study

Computer-aided implant surgery has undergone continuous development in recent years. In this study, active and passive systems of dynamic navigation were divided into active dynamic navigation system group and passive dynamic navigation system group (ADG and PDG), respectively. Active, passive and semi-active implant robots were divided into active robot group, passive robot group and semi-active robot group (ARG, PRG and SRG), respectively. Each group placed two implants (FDI tooth positions 31 and 36) in a model 12 times. The accuracy of 216 implants in 108 models were analysed. The coronal deviations of ADG, PDG, ARG, PRG and SRG were 0.85 ± 0.17 mm, 1.05 ± 0.42 mm, 0.29 ± 0.15 mm, 0.40 ± 0.16 mm and 0.33 ± 0.14 mm, respectively. The apical deviations of the five groups were 1.11 ± 0.23 mm, 1.07 ± 0.38 mm, 0.29 ± 0.15 mm, 0.50 ± 0.19 mm and 0.36 ± 0.16 mm, respectively. The axial deviations of the five groups were 1.78 ± 0.73°, 1.99 ± 1.20°, 0.61 ± 0.25°, 1.04 ± 0.37° and 0.42 ± 0.18°, respectively. The coronal, apical and axial deviations of ADG were higher than those of ARG, PRG and SRG (all P < 0.001). Similarly, the coronal, apical and axial deviations of PDG were higher than those of ARG, PRG, and SRG (all P < 0.001). Dynamic and robotic computer-aided implant surgery may show good implant accuracy in vitro. However, the accuracy and stability of implant robots are higher than those of dynamic navigation systems.

Recent Advances in Digital Technology in Implant Dentistry

Digital technology has emerged as a transformative tool in dental implantation, profoundly enhancing accuracy and effectiveness across multiple facets, such as diagnosis, preoperative treatment planning, surgical procedures, and restoration delivery. The multiple integration of radiographic data and intraoral data, sometimes with facial scan data or electronic facebow through virtual planning software, enables comprehensive 3-dimensional visualization of the hard and soft tissue and the position of future restoration, resulting in heightened diagnostic precision. In virtual surgery design, the incorporation of both prosthetic arrangement and individual anatomical details enables the virtual execution of critical procedures (e.g., implant placement, extended applications, etc.) through analysis of cross-sectional images and the reconstruction of 3-dimensional surface models. After verification, the utilization of digital technology including templates, navigation, combined techniques, and implant robots achieved seamless transfer of the virtual treatment plan to the actual surgical sites, ultimately leading to enhanced surgical outcomes with highly improved accuracy. In restoration delivery, digital techniques for impression, shade matching, and prosthesis fabrication have advanced, enabling seamless digital data conversion and efficient communication among clinicians and technicians. Compared with clinical medicine, artificial intelligence (AI) technology in dental implantology primarily focuses on diagnosis and prediction. AI-supported preoperative planning and surgery remain in developmental phases, impeded by the complexity of clinical cases and ethical considerations, thereby constraining widespread adoption.

Navigating the future of guided dental implantology: A scoping review

BACKGROUND

The aim of this scoping review was to understand the development of robotics and its accuracy in placing dental implants when compared to other forms of guided surgery.

METHODS

An electronic search was conducted on the electronic databases of PubMed, Cochrane, and Science direct with the following queries: ((robotics) AND (dental implant)) AND (accuracy). The search timeline was between 2017 and 2022.

RESULTS

A total of 54 articles were screened for title and abstract, of which 16 were deemed eligible for inclusion. Thirty-one articles were excluded mainly because they were out of topic (not relevant) or not in English. In total, 16 articles were included for analysis.

CONCLUSIONS

This review thoroughly analyses 5 years of literature concerning the evolution of robotics in dental implant surgery, underscoring the necessity for additional research on nascent technologies reported and a comparative study with static and dynamic systems for clinical efficacy evaluation.

Fast and precise collision detection for detailed and complex physiological structures

BACKGROUND AND OBJECTIVES

Virtual reality has been proved indispensable in computer-assisted surgery, especially for surgical planning, and simulation systems. Collision detection is an essential part of surgery simulators and its accuracy and computational efficiency play a decisive role in the fidelity of simulations. Nevertheless, current collision detection methods in surgical simulation and planning struggle to meet precise requirements, especially for detailed and complex physiological structures. To address this, the primary objective of this study was to develop a new algorithm that enables fast and precise collision detection to facilitate the improvement of the realism of virtual reality surgical procedures.

METHODS

The method consists of two main parts, bounding spheres formation and two-level collision detection. A specified surface subdivision method is devised to reduce the radius of basic bounding spheres formed by circumcenters of underlying triangles. The spheres are then clustered and adjusted to obtain a compact personalized hierarchy whose position is updated in real time during surgical simulation, followed by two-level collision detection. Triangular facets with collision potential through interaction between hierarchies and then accurate results are obtained by means of precise detection phase. The effectiveness of the algorithm was evaluated in various models and surgical scenarios and was compared with prior relevant implementations.

RESULTS

Results on multiple models demonstrated that the method can generate a personalized hierarchy with fewer and smaller bounding spheres for tight wrapping. Simulation experiments proved that the proposed approach is significantly superior to comparable methods under the premise of error-free detection, even for severe model-model collision.

CONCLUSIONS

The algorithm proposed through this study enables higher numerical efficiency and detection accuracy, which is capable of significantly enlarging the fidelity/realism of haptic simulators and surgical planning methods.

Comparison of accuracy between free-hand and surgical guide implant placement among experienced and non-experienced dental implant practitioners: an in vitro study

PURPOSE

This study investigated the accuracy of free-hand implant surgery performed by an experienced operator compared to static guided implant surgery performed by an inexperienced operator on an anterior maxillary dental model arch.

METHODS

A maxillary dental model with missing teeth (No. 11, 22, and 23) was used for this in vitro study. An intraoral scan was performed on the model, with the resulting digital impression exported as a stereolithography file. Next, a cone-beam computed tomography (CBCT) scan was performed, with the resulting image exported as a Digital Imaging and Communications in Medicine file. Both files were imported into the RealGUIDE 5.0 dental implant planning software. Active Bio implants were selected to place into the model. A single stereolithographic 3-dimensional surgical guide was printed for all cases. Ten clinicians, divided into 2 groups, placed a total of 60 implants in 20 acrylic resin maxillary models. Due to the small sample size, the Mann-Whitney test was used to analyze mean values in the 2 groups. Statistical analyses were performed using SAS version 9.4.

RESULTS

The accuracy of implant placement using a surgical guide was significantly higher than that of free-hand implantation. The mean difference between the planned and actual implant positions at the apex was 0.68 mm for the experienced group using the free-hand technique and 0.14 mm for the non-experienced group using the surgical guide technique (P=0.019). At the top of the implant, the mean difference was 1.04 mm for the experienced group using the free-hand technique and 0.52 mm for the non-experienced group using the surgical guide technique (P=0.044).

CONCLUSIONS

The data from this study will provide valuable insights for future studies, since in vitro studies should be conducted extensively in advance of retrospective or prospective studies to avoid burdening patients unnecessarily.

Prevention and repair of orthodontically induced root resorption using ultrasound: a scoping review

INTRODUCTION

This review summarizes the available recent literature on different mechanisms and parameters of pulsed ultrasound (US) that have been used during orthodontic treatments to prevent and repair root resorption.

AREAS COVERED

A literature search was conducted between January (2002) and September (2022) in the following databases: PubMed, Google-Scholar, Embase, and The-Cochrane-Library. After exclusions, a total of 19 papers were included in the present review. The most used US parameters with positive outcomes were frequency of 1.5 MHz, pulse repetition frequency of 1000 Hz, output intensity of 30 mW/cm2, duration of application of 20 min and total number sessions were 14 with a repetition interval of 1 day. The suggested mechanisms induced by US were alteration of cementoblasts, osteoblasts, osteoclasts, alkaline-phosphatase (ALP), runt-related-gene-2 (Runx2), osteoprotegerin (OPG), type-I-collagen (Col-I), C-telopeptide-type-I-collagen (CTX-I), hepatocyte-growth-factor (HGF), bone morphogenetic protein-2 (BMP-2), cyclooxygenase-2 (Cox-2), calcium (Ca2+), receptor activator of nuclear factor-kappa-B ligand (RANKL), and receptor activator of nuclear factor-kappa-B (RANK).

EXPERT OPINION

Understanding mechanisms and deciding which parameters of US that can be used during orthodontic treatment to prevent and repair root resorption is a great challenge. This work summarizes all the available data that can aid this process and suggest that US is an effective noninvasive method not only in prevention and repairing of orthodontic induced root resorption but also in accelerating teeth movement.

Full-Arch Guided Restoration and Bone Regeneration: A Complete Digital Workflow Case Report

OBJECTIVE

complex rehabilitations present multiple difficulties, regarding both the planification of the surgery and the design of the prothesis. A digital approach can support the workflow, as well as the degree of intraoperative precision, and improve the long-term prognosis.

METHODS

A surgical guide was designed for implant placement. An extensive regeneration of the upper jaw was performed with contextual implant insertion, and a delayed load rehabilitation was chosen. After four months, a second surgery and a simultaneous soft tissue augmentation was performed, and a 3D-printed temporary restoration was placed. After another two months, new dental and facial scans, smile design, and facial bite registrations were obtained. Upper and lower dentures were built using an exclusively digital workflow. Both metal substructures were passivated and cemented in one session; in the following appointment, the aesthetic and occlusal checks were carried out. During the third visit, both prostheses were delivered.

RESULTS

Careful case planning and the surgical guide made it possible to achieve primary stability and acceptable emergence profiles in an extremely reabsorbed upper jaw. Leukocyte-Platelet Rich Fibrin (L-PRF) made the extensive bone regeneration more approachable and lowered the post-operative pain and swelling, while speeding up the soft tissue healing process. During the re-entry surgery, the volumes of soft tissues were increased to improve aesthetics, and the amount of keratinized gingiva around the six implants was also increased. Smile design and facial scans have provided the means to create acceptable aesthetics and function in a few sessions with minimal patient discomfort.

CONCLUSIONS

Computer-assisted implantology is a safe and precise method of performing dental implant surgery. Preliminary studies have a high degree of accuracy, but further studies are needed to arrive at a fully digital clinical protocol at all stages.

Intraoral Scanning as an Alternative to Evaluate the Accuracy of Dental Implant Placements in Partially Edentate Situations: A Prospective Clinical Case Series

(1) Background: For years, Cone-Beam Computed Tomography’s (CBCT) have been the golden standard to evaluate implant placement accuracy. By validating Intraoral Scans (IOS) as an alternative to determine implant placement accuracy, a second CBCT could be avoided. (2) Methods: Using dynamic guided implant surgery, 23 implants were placed in 16 partially edentate patients. Preoperatively, both CBCT and IOS (Trios® 3) were obtained and subsequently imported into DTX Studio™ planning software to determine the ideal implant location. A CBCT scan and an IOS including scan abutments were acquired immediately after placement. Both postoperative CBCT and postoperative IOS were used to compare the achieved implant position with the planned implant position and were projected and analyzed using the Implant Position Orthogonal Projection (IPOP) method. (3) Results: Mean differences between the CBCT and IOS methods on the mesio−distal plane were 0.09 mm (p = 0.419) at the tip, 0.01 mm (p = 0.910) at the shoulder, −0.55° (p = 0.273) in angulation, and 0.2 mm (p = 0.280) in implant depth. Mean differences between both methods on the bucco-lingual/bucco-palatal plane were 0.25 mm (p = 0.000) at the tip, 0.12 mm (p = 0.011) at the shoulder, −0.81° (p = 0.002) in angulation, and 0.17 mm (p = 0.372) in implant depth. A statistical analysis was performed using a paired t-test. All mesiodistal deviations between the two methods showed no significant differences (p > 0.05). Buccolingual/buccopalatal deviations showed no significant difference in implant depth deviation. However, significant differences were found at the tip, shoulder, and angulation (p < 0.05). These values are of minimal clinical significance. (4) Conclusions: This study supports the hypothesis that a postoperative IOS is a valid alternative for determining implant placement accuracy.

Trends in Scope of Practice for Oral Health Care: Future Transformative Effects

KNOWLEDGE TRANSFER STATEMENT

The results of this study can help key stakeholders, such as health care facilities, educational and research institutions, insurance companies, and governmental bodies, plan future activities and policies on dental practice and education.

Free-Hand versus Surgical Guide Implant Placement

One of the most key areas of dentistry is dental implant surgery. The use of digital equipment and software in dentistry has developed considerably in recent years compared to other fields of medicine. Since examining the advantages and disadvantages of each approach, along with case studies, can help physicians make informed decisions, this review study aims to raise the awareness of dentists to make easier decisions about using guided or free-hand surgery. When planning for a dental implant, one of the most challenging questions that doctors face is which method to use (guided surgery or free-hand). Choosing the right method, such as other clinical considerations, will depend on the individual circumstances of each patient and the preference of the treating physician. Free-hand surgery is a cost-effective method in which the flap is reflected, and, according to the doctor's diagnostic information, an implant is placed, which in many cases is a useful method. Guided surgery has the highest level of accuracy and control, in which osteotomy is designed and printed through a digital surgery guide, and depending on the complexity of the case and the patient's anatomy, it has a higher level of value than free surgery. The surgical guide helps the surgeon make the implant surgery more accurate, safer, simpler, at a lower cost, and in less time. In fact, there are patterns that convey information about the position of the tooth to the dentist before the implant is placed.