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Accuracy of a calibration method based on cone beam computed tomography and intraoral scanner data registration for
Yi Li1, Mingyue Liu2, Jianguo Tan3
1Graduate student, Department of Prosthodontics, Peking University School and Hospital of Stomatology & National Center for Stomatology & National Clinical Research Center for Oral Diseases & National Engineering Research Center of Oral Biomaterials and Digital Medical Devices, Beijing, PR China.
Statement Of Problem:
Robotic computer assisted implant surgery (r-CAIS) has evolved rapidly because of its enhanced precision and efficiency. Intraoperative patient positioning calibration is critical for ensuring r-CAIS accuracy. A calibration method based on cone beam computed tomography (CBCT) and intraoral scanner (IOS) data registration for robot-assisted implant placement has been proposed previously, and its accuracy validated in vitro; however, its in vivo performance remains unclear.
Purpose:
This single arm clinical study aimed to evaluate the clinical feasibility and accuracy of calibrating r-CAIS through CBCT and IOS data registration.
Material And Methods:
Ten participants with partial edentulism (1 to 3 missing teeth) were enrolled for robotic implant placement. A preoperative surgical plan was performed based on the CBCT scans. During implant surgery, the participant was scanned with an IOS, with patient positioning calibration accomplished through CBCT and IOS data registration. Implants were subsequently placed automatically via the robotic system according to the preoperative plan. Two weeks postoperatively, CBCT scans were obtained, and deviations between the planned and actual implant positions were measured by superimposing preoperative and postoperative CBCT data by using the robotic software program. The Shapiro-Wilk test was conducted to evaluate the normality of data. Quantitative variables were expressed as mean ±standard deviation, 95% confidence interval (CI), maximum, and minimum.
Results:
Fifteen implants were autonomously placed in 10 participants by using r-CAIS technology. No intraoperative adverse events or postoperative complications occurred. By using the CBCT and IOS data registration approach, the autonomous robotic system achieved a mean ±standard deviation angular deviation of 1.46 ±0.48 degrees (95% CI: 1.23 to 1.71 degrees), with 3-dimensional deviations of 0.77 ±0.21 mm (95% CI: 0.65 to 0.87 mm) and 0.72 ±0.24 mm (95% CI: 0.61 to 0.84 mm) at the implant platform and apex, respectively.
Conclusions:
The CBCT and IOS data registration method for calibrating r-CAIS demonstrated clinically acceptable feasibility and accuracy in partially edentulous participants.
