In‐vitro assessment of a registration protocol for image guided implant dentistry
Identifieur interne : 004841 ( Istex/Corpus ); précédent : 004840; suivant : 004842In‐vitro assessment of a registration protocol for image guided implant dentistry
Auteurs : Wolfgang Birkfellner ; Peter Solar ; André Gahleitner ; Klaus Huber ; Franz Kainberger ; Joachim Kettenbach ; Peter Homolka ; Markus Diemling ; Georg Watzek ; Helmar BergmannSource :
- Clinical Oral Implants Research [ 0905-7161 ] ; 2001-02.
English descriptors
- KwdEn :
- Additional landmarks, Algorithm, Atrophic alveolar ridges, Bayonet probe, Bergmann, Biomedical engineering, Biomedical imaging resource, Birkfellner, Clin, Clinical applicability, Clinical applications, Data acquisition, Dental drill, Dental implants, Dentistry, Different registration algorithms, Drill axis, Ducial, Ducial localization error, Ducial marker, Ducial marker positions, Ducial markers, Ducial registration error, Edentulous, Edentulous patients, Eigenvalue problem, Fiducial registration error, Fitzpatrick, General hospital vienna, Head diameter, High resolution, Ieee, Ieee trans, Ieee transactions, Image guidance, Imaging, Imaging techniques, Impl, Implant, Implant dentistry, Implant drill, Implant placement, Implant position, Implant surgery, Implantes orales, Incremental scanning, Intensity centroid, Large extent, Lavallee, Local anaesthesia, Localization, Localization error, Mandible, Mandible model, Marker, Matrix, Maurer, Maxilla, Maxilla models, Maxillofacial implants, Maximal values, Mayo clinic, Medical imaging, Molar, Molar area, Mucosal tissue, Navegacion asistida, Navigation system, Nuclear medicine, Oblique reformatting, Optical tracker, Oral impl, Oral implants, Overall error, Physical space, Position data, Position measurement system, Position measurements, Preoperative, Preoperative imagery, Probe, Prosthetic, Prosthetic dentistry, Protocol, Radiological image, Radiological information, Reference probe, Reformatted slices, Registration algorithm, Registration algorithms, Registration error, Registration protocol, Registration transformation, Reliable registration, Rotation matrix, Screw heads, Single point measurements, Slice thickness, Small size, Splint, Standard deviation, Steel spheres, Surface points, Surgery, Surgical, Surgical tools, Table feed, Target registration error, Technical accuracy, Thin arrows, Tional journal, Tracker, Usable registration, Waehringer guertel vienna, Wolfgang birkfellner.
- Teeft :
- Additional landmarks, Algorithm, Atrophic alveolar ridges, Bayonet probe, Bergmann, Biomedical engineering, Biomedical imaging resource, Birkfellner, Clin, Clinical applicability, Clinical applications, Data acquisition, Dental drill, Dental implants, Dentistry, Different registration algorithms, Drill axis, Ducial, Ducial localization error, Ducial marker, Ducial marker positions, Ducial markers, Ducial registration error, Edentulous, Edentulous patients, Eigenvalue problem, Fiducial registration error, Fitzpatrick, General hospital vienna, Head diameter, High resolution, Ieee, Ieee trans, Ieee transactions, Image guidance, Imaging, Imaging techniques, Impl, Implant, Implant dentistry, Implant drill, Implant placement, Implant position, Implant surgery, Implantes orales, Incremental scanning, Intensity centroid, Large extent, Lavallee, Local anaesthesia, Localization, Localization error, Mandible, Mandible model, Marker, Matrix, Maurer, Maxilla, Maxilla models, Maxillofacial implants, Maximal values, Mayo clinic, Medical imaging, Molar, Molar area, Mucosal tissue, Navegacion asistida, Navigation system, Nuclear medicine, Oblique reformatting, Optical tracker, Oral impl, Oral implants, Overall error, Physical space, Position data, Position measurement system, Position measurements, Preoperative, Preoperative imagery, Probe, Prosthetic, Prosthetic dentistry, Protocol, Radiological image, Radiological information, Reference probe, Reformatted slices, Registration algorithm, Registration algorithms, Registration error, Registration protocol, Registration transformation, Reliable registration, Rotation matrix, Screw heads, Single point measurements, Slice thickness, Small size, Splint, Standard deviation, Steel spheres, Surface points, Surgery, Surgical, Surgical tools, Table feed, Target registration error, Technical accuracy, Thin arrows, Tional journal, Tracker, Usable registration, Waehringer guertel vienna, Wolfgang birkfellner.
Abstract
Abstract: In this study a computer aided navigation technique for accurate positioning of oral implants was assessed. An optical tracking system with specially designed tools for monitoring the position of surgical instruments relative to the patient was used to register 5 partially or completely edentulous jaw models. Besides the accuracy of the tracking system, the precision of localizing a specific position on 3‐dimensional preoperative imagery is governed by the registration algorithm which conveys the co‐ordinate system of the preoperative computed tomography (CT) scan to the actual patient position. Two different point‐to‐point registration algorithms were compared for their suitability for this application. The accuracy was determined separately for the localization error of the position measurement hardware (fiducial localization error – FLE) and the error as reported by the registration algorithm (fiducial registration error – FRE). The overall error of the navigation procedure was determined as the localization error of additional landmarks (steel spheres, 0.5 mm diameter) after registration (target registration error – TRE). Images of the jaw models were obtained using a high resolution CT scan (1.5 mm slice thickness, 1 mm table feed, incremental scanning, 120 kV, 150 mAs, 512 · 512 matrix, FOV 120 mm). The accuracy of the position measurement probes was 0.69±0.15 mm (FLE). Using 3 implanted fiducial markers, FRE was 0.71±0.12 mm on average and 1.00±0.13 mm maximum. TRE was found to be 1.23±0.28 mm average and 1.87±0.47 mm maximum. Increasing the number of fiducial markers to a total of 5 did not significantly improve precision. Furthermore it was found that a registration algorithm based on solving an eigenvalue problem is the superior approach for point‐to‐point matching in terms of mathematical stability. The experimental results indicate that positioning accuracy of oral implants may benefit from computer aided intraoperative navigation. The accuracy achieved compares well to the resolution of the CT scan used. Further development of point‐to‐point/point‐to‐surface registration methods and tracking hardware has the potential to improve the precision of the method even further. Our system has potential to reduce the intraoperative risk of causing damage to critical anatomic structures, to minimize the efforts in prosthetic modelling, and to simplify the task of transferring preoperative planning data precisely to the operating room in general.
Url:
DOI: 10.1034/j.1600-0501.2001.012001069.x
Links to Exploration step
ISTEX:90EAF67B978EA6CE9A8AD70752D3B776998E3EB7Le document en format XML
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last="Gahleitner">André Gahleitner</name><affiliation><mods:affiliation>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</mods:affiliation></affiliation></author><author><name sortKey="Huber, Klaus" sort="Huber, Klaus" uniqKey="Huber K" first="Klaus" last="Huber">Klaus Huber</name><affiliation><mods:affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</mods:affiliation></affiliation></author><author><name sortKey="Kainberger, Franz" sort="Kainberger, Franz" uniqKey="Kainberger F" first="Franz" last="Kainberger">Franz Kainberger</name><affiliation><mods:affiliation>Department of Osteoradiology, University of Vienna, General 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Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</mods:affiliation></affiliation></author><author><name sortKey="Solar, Peter" sort="Solar, Peter" uniqKey="Solar P" first="Peter" last="Solar">Peter Solar</name><affiliation><mods:affiliation>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria</mods:affiliation></affiliation></author><author><name sortKey="Gahleitner, Andre" sort="Gahleitner, Andre" uniqKey="Gahleitner A" first="André" last="Gahleitner">André Gahleitner</name><affiliation><mods:affiliation>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</mods:affiliation></affiliation></author><author><name sortKey="Huber, Klaus" sort="Huber, Klaus" uniqKey="Huber K" first="Klaus" last="Huber">Klaus Huber</name><affiliation><mods:affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</mods:affiliation></affiliation></author><author><name sortKey="Kainberger, Franz" sort="Kainberger, Franz" uniqKey="Kainberger F" first="Franz" last="Kainberger">Franz Kainberger</name><affiliation><mods:affiliation>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</mods:affiliation></affiliation></author><author><name sortKey="Kettenbach, Joachim" sort="Kettenbach, Joachim" uniqKey="Kettenbach J" first="Joachim" last="Kettenbach">Joachim Kettenbach</name><affiliation><mods:affiliation>Department of Angiography and Interventional Radiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</mods:affiliation></affiliation></author><author><name sortKey="Homolka, Peter" sort="Homolka, Peter" uniqKey="Homolka P" first="Peter" last="Homolka">Peter Homolka</name><affiliation><mods:affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</mods:affiliation></affiliation></author><author><name sortKey="Diemling, Markus" sort="Diemling, Markus" uniqKey="Diemling M" first="Markus" last="Diemling">Markus Diemling</name><affiliation><mods:affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</mods:affiliation></affiliation></author><author><name sortKey="Watzek, Georg" sort="Watzek, Georg" uniqKey="Watzek G" first="Georg" last="Watzek">Georg Watzek</name><affiliation><mods:affiliation>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria</mods:affiliation></affiliation></author><author><name sortKey="Bergmann, Helmar" sort="Bergmann, Helmar" uniqKey="Bergmann H" first="Helmar" last="Bergmann">Helmar Bergmann</name><affiliation><mods:affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</mods:affiliation></affiliation><affiliation><mods:affiliation>Ludwig‐Boltzmann Institute of Nuclear Medicine, Vienna, Austria</mods:affiliation></affiliation></author></analytic><monogr></monogr><series><title level="j" type="main">Clinical Oral Implants Research</title><title level="j" type="alt">CLINICAL ORAL IMPLANTS RESEARCH</title><idno type="ISSN">0905-7161</idno><idno type="eISSN">1600-0501</idno><imprint><biblScope unit="vol">12</biblScope><biblScope unit="issue">1</biblScope><biblScope unit="page" from="69">69</biblScope><biblScope unit="page" to="78">78</biblScope><biblScope unit="page-count">10</biblScope><publisher>Munksgaard International Publishers</publisher><pubPlace>Copenhagen</pubPlace><date type="published" when="2001-02">2001-02</date></imprint><idno type="ISSN">0905-7161</idno></series></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0905-7161</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Additional landmarks</term><term>Algorithm</term><term>Atrophic alveolar ridges</term><term>Bayonet probe</term><term>Bergmann</term><term>Biomedical engineering</term><term>Biomedical imaging resource</term><term>Birkfellner</term><term>Clin</term><term>Clinical applicability</term><term>Clinical applications</term><term>Data acquisition</term><term>Dental drill</term><term>Dental implants</term><term>Dentistry</term><term>Different registration algorithms</term><term>Drill axis</term><term>Ducial</term><term>Ducial localization error</term><term>Ducial marker</term><term>Ducial marker positions</term><term>Ducial markers</term><term>Ducial registration error</term><term>Edentulous</term><term>Edentulous patients</term><term>Eigenvalue problem</term><term>Fiducial registration error</term><term>Fitzpatrick</term><term>General hospital vienna</term><term>Head diameter</term><term>High resolution</term><term>Ieee</term><term>Ieee trans</term><term>Ieee transactions</term><term>Image guidance</term><term>Imaging</term><term>Imaging techniques</term><term>Impl</term><term>Implant</term><term>Implant dentistry</term><term>Implant drill</term><term>Implant placement</term><term>Implant position</term><term>Implant surgery</term><term>Implantes orales</term><term>Incremental scanning</term><term>Intensity centroid</term><term>Large extent</term><term>Lavallee</term><term>Local anaesthesia</term><term>Localization</term><term>Localization error</term><term>Mandible</term><term>Mandible model</term><term>Marker</term><term>Matrix</term><term>Maurer</term><term>Maxilla</term><term>Maxilla models</term><term>Maxillofacial implants</term><term>Maximal values</term><term>Mayo clinic</term><term>Medical imaging</term><term>Molar</term><term>Molar area</term><term>Mucosal tissue</term><term>Navegacion asistida</term><term>Navigation system</term><term>Nuclear medicine</term><term>Oblique reformatting</term><term>Optical tracker</term><term>Oral impl</term><term>Oral implants</term><term>Overall error</term><term>Physical space</term><term>Position data</term><term>Position measurement system</term><term>Position measurements</term><term>Preoperative</term><term>Preoperative imagery</term><term>Probe</term><term>Prosthetic</term><term>Prosthetic dentistry</term><term>Protocol</term><term>Radiological image</term><term>Radiological information</term><term>Reference probe</term><term>Reformatted slices</term><term>Registration algorithm</term><term>Registration algorithms</term><term>Registration error</term><term>Registration protocol</term><term>Registration transformation</term><term>Reliable registration</term><term>Rotation matrix</term><term>Screw heads</term><term>Single point measurements</term><term>Slice thickness</term><term>Small size</term><term>Splint</term><term>Standard deviation</term><term>Steel spheres</term><term>Surface points</term><term>Surgery</term><term>Surgical</term><term>Surgical tools</term><term>Table feed</term><term>Target registration error</term><term>Technical accuracy</term><term>Thin arrows</term><term>Tional journal</term><term>Tracker</term><term>Usable registration</term><term>Waehringer guertel vienna</term><term>Wolfgang birkfellner</term></keywords><keywords scheme="Teeft" xml:lang="en"><term>Additional landmarks</term><term>Algorithm</term><term>Atrophic alveolar ridges</term><term>Bayonet probe</term><term>Bergmann</term><term>Biomedical engineering</term><term>Biomedical imaging resource</term><term>Birkfellner</term><term>Clin</term><term>Clinical applicability</term><term>Clinical applications</term><term>Data acquisition</term><term>Dental drill</term><term>Dental implants</term><term>Dentistry</term><term>Different registration algorithms</term><term>Drill axis</term><term>Ducial</term><term>Ducial localization error</term><term>Ducial marker</term><term>Ducial marker positions</term><term>Ducial markers</term><term>Ducial registration error</term><term>Edentulous</term><term>Edentulous patients</term><term>Eigenvalue problem</term><term>Fiducial registration error</term><term>Fitzpatrick</term><term>General hospital vienna</term><term>Head diameter</term><term>High resolution</term><term>Ieee</term><term>Ieee trans</term><term>Ieee transactions</term><term>Image guidance</term><term>Imaging</term><term>Imaging techniques</term><term>Impl</term><term>Implant</term><term>Implant dentistry</term><term>Implant drill</term><term>Implant placement</term><term>Implant position</term><term>Implant surgery</term><term>Implantes orales</term><term>Incremental scanning</term><term>Intensity centroid</term><term>Large extent</term><term>Lavallee</term><term>Local anaesthesia</term><term>Localization</term><term>Localization error</term><term>Mandible</term><term>Mandible model</term><term>Marker</term><term>Matrix</term><term>Maurer</term><term>Maxilla</term><term>Maxilla models</term><term>Maxillofacial implants</term><term>Maximal values</term><term>Mayo clinic</term><term>Medical imaging</term><term>Molar</term><term>Molar area</term><term>Mucosal tissue</term><term>Navegacion asistida</term><term>Navigation system</term><term>Nuclear medicine</term><term>Oblique reformatting</term><term>Optical tracker</term><term>Oral impl</term><term>Oral implants</term><term>Overall error</term><term>Physical space</term><term>Position data</term><term>Position measurement system</term><term>Position measurements</term><term>Preoperative</term><term>Preoperative imagery</term><term>Probe</term><term>Prosthetic</term><term>Prosthetic dentistry</term><term>Protocol</term><term>Radiological image</term><term>Radiological information</term><term>Reference probe</term><term>Reformatted slices</term><term>Registration algorithm</term><term>Registration algorithms</term><term>Registration error</term><term>Registration protocol</term><term>Registration transformation</term><term>Reliable registration</term><term>Rotation matrix</term><term>Screw heads</term><term>Single point measurements</term><term>Slice thickness</term><term>Small size</term><term>Splint</term><term>Standard deviation</term><term>Steel spheres</term><term>Surface points</term><term>Surgery</term><term>Surgical</term><term>Surgical tools</term><term>Table feed</term><term>Target registration error</term><term>Technical accuracy</term><term>Thin arrows</term><term>Tional journal</term><term>Tracker</term><term>Usable registration</term><term>Waehringer guertel vienna</term><term>Wolfgang birkfellner</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract">Abstract: In this study a computer aided navigation technique for accurate positioning of oral implants was assessed. An optical tracking system with specially designed tools for monitoring the position of surgical instruments relative to the patient was used to register 5 partially or completely edentulous jaw models. Besides the accuracy of the tracking system, the precision of localizing a specific position on 3‐dimensional preoperative imagery is governed by the registration algorithm which conveys the co‐ordinate system of the preoperative computed tomography (CT) scan to the actual patient position. Two different point‐to‐point registration algorithms were compared for their suitability for this application. The accuracy was determined separately for the localization error of the position measurement hardware (fiducial localization error – FLE) and the error as reported by the registration algorithm (fiducial registration error – FRE). The overall error of the navigation procedure was determined as the localization error of additional landmarks (steel spheres, 0.5 mm diameter) after registration (target registration error – TRE). Images of the jaw models were obtained using a high resolution CT scan (1.5 mm slice thickness, 1 mm table feed, incremental scanning, 120 kV, 150 mAs, 512 · 512 matrix, FOV 120 mm). The accuracy of the position measurement probes was 0.69±0.15 mm (FLE). Using 3 implanted fiducial markers, FRE was 0.71±0.12 mm on average and 1.00±0.13 mm maximum. TRE was found to be 1.23±0.28 mm average and 1.87±0.47 mm maximum. Increasing the number of fiducial markers to a total of 5 did not significantly improve precision. Furthermore it was found that a registration algorithm based on solving an eigenvalue problem is the superior approach for point‐to‐point matching in terms of mathematical stability. The experimental results indicate that positioning accuracy of oral implants may benefit from computer aided intraoperative navigation. The accuracy achieved compares well to the resolution of the CT scan used. Further development of point‐to‐point/point‐to‐surface registration methods and tracking hardware has the potential to improve the precision of the method even further. Our system has potential to reduce the intraoperative risk of causing damage to critical anatomic structures, to minimize the efforts in prosthetic modelling, and to simplify the task of transferring preoperative planning data precisely to the operating room in general.</div></front></TEI><istex><corpusName>wiley</corpusName><keywords><teeft><json:string>ducial</json:string><json:string>implant</json:string><json:string>ducial markers</json:string><json:string>birkfellner</json:string><json:string>steel spheres</json:string><json:string>reference probe</json:string><json:string>algorithm</json:string><json:string>implant dentistry</json:string><json:string>ieee</json:string><json:string>dentistry</json:string><json:string>registration protocol</json:string><json:string>impl</json:string><json:string>clin</json:string><json:string>oral impl</json:string><json:string>maurer</json:string><json:string>ducial marker</json:string><json:string>tracker</json:string><json:string>ieee 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trans</json:string><json:string>tional journal</json:string><json:string>maxillofacial implants</json:string><json:string>prosthetic dentistry</json:string><json:string>biomedical engineering</json:string><json:string>radiological image</json:string><json:string>probe</json:string></teeft></keywords><author><json:item><name>Wolfgang Birkfellner</name><affiliations><json:string>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</json:string></affiliations></json:item><json:item><name>Peter Solar</name><affiliations><json:string>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria</json:string></affiliations></json:item><json:item><name>André Gahleitner</name><affiliations><json:string>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria</json:string><json:string>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</json:string></affiliations></json:item><json:item><name>Klaus Huber</name><affiliations><json:string>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</json:string></affiliations></json:item><json:item><name>Franz Kainberger</name><affiliations><json:string>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</json:string></affiliations></json:item><json:item><name>Joachim Kettenbach</name><affiliations><json:string>Department of Angiography and Interventional Radiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</json:string></affiliations></json:item><json:item><name>Peter Homolka</name><affiliations><json:string>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</json:string></affiliations></json:item><json:item><name>Markus Diemling</name><affiliations><json:string>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</json:string></affiliations></json:item><json:item><name>Georg Watzek</name><affiliations><json:string>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria</json:string></affiliations></json:item><json:item><name>Helmar Bergmann</name><affiliations><json:string>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</json:string><json:string>Ludwig‐Boltzmann Institute of Nuclear Medicine, Vienna, Austria</json:string></affiliations></json:item></author><subject><json:item><lang><json:string>eng</json:string></lang><value>image guided therapy</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>computer aided surgery</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>implant dentistry</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>registration</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>accuracy</value></json:item></subject><articleId><json:string>CLR120109</json:string></articleId><arkIstex>ark:/67375/WNG-5HQF57V2-S</arkIstex><language><json:string>eng</json:string></language><originalGenre><json:string>article</json:string></originalGenre><abstract>Abstract: In this study a computer aided navigation technique for accurate positioning of oral implants was assessed. An optical tracking system with specially designed tools for monitoring the position of surgical instruments relative to the patient was used to register 5 partially or completely edentulous jaw models. Besides the accuracy of the tracking system, the precision of localizing a specific position on 3‐dimensional preoperative imagery is governed by the registration algorithm which conveys the co‐ordinate system of the preoperative computed tomography (CT) scan to the actual patient position. Two different point‐to‐point registration algorithms were compared for their suitability for this application. The accuracy was determined separately for the localization error of the position measurement hardware (fiducial localization error – FLE) and the error as reported by the registration algorithm (fiducial registration error – FRE). The overall error of the navigation procedure was determined as the localization error of additional landmarks (steel spheres, 0.5 mm diameter) after registration (target registration error – TRE). Images of the jaw models were obtained using a high resolution CT scan (1.5 mm slice thickness, 1 mm table feed, incremental scanning, 120 kV, 150 mAs, 512 · 512 matrix, FOV 120 mm). The accuracy of the position measurement probes was 0.69±0.15 mm (FLE). Using 3 implanted fiducial markers, FRE was 0.71±0.12 mm on average and 1.00±0.13 mm maximum. TRE was found to be 1.23±0.28 mm average and 1.87±0.47 mm maximum. Increasing the number of fiducial markers to a total of 5 did not significantly improve precision. Furthermore it was found that a registration algorithm based on solving an eigenvalue problem is the superior approach for point‐to‐point matching in terms of mathematical stability. The experimental results indicate that positioning accuracy of oral implants may benefit from computer aided intraoperative navigation. The accuracy achieved compares well to the resolution of the CT scan used. Further development of point‐to‐point/point‐to‐surface registration methods and tracking hardware has the potential to improve the precision of the method even further. Our system has potential to reduce the intraoperative risk of causing damage to critical anatomic structures, to minimize the efforts in prosthetic modelling, and to simplify the task of transferring preoperative planning data precisely to the operating room in general.</abstract><qualityIndicators><score>10</score><pdfWordCount>6915</pdfWordCount><pdfCharCount>45490</pdfCharCount><pdfVersion>1.2</pdfVersion><pdfPageCount>10</pdfPageCount><pdfPageSize>595 x 794 pts</pdfPageSize><refBibsNative>true</refBibsNative><abstractWordCount>365</abstractWordCount><abstractCharCount>2502</abstractCharCount><keywordCount>5</keywordCount></qualityIndicators><title>In‐vitro assessment of a registration protocol for image guided implant dentistry</title><pmid><json:string>11168273</json:string></pmid><genre><json:string>article</json:string></genre><host><title>Clinical Oral Implants Research</title><language><json:string>unknown</json:string></language><doi><json:string>10.1111/(ISSN)1600-0501</json:string></doi><issn><json:string>0905-7161</json:string></issn><eissn><json:string>1600-0501</json:string></eissn><publisherId><json:string>CLR</json:string></publisherId><volume>12</volume><issue>1</issue><pages><first>69</first><last>78</last><total>10</total></pages><genre><json:string>journal</json:string></genre></host><namedEntities><unitex><date><json:string>2001</json:string><json:string>2500</json:string></date><geogName></geogName><orgName><json:string>Image Guided Technologies, Boulder</json:string><json:string>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel</json:string><json:string>Ludwig–Boltzmann Institute of Nuclear Medicine, Vienna</json:string><json:string>Austria Tel</json:string><json:string>Image Guided Technologies Inc</json:string><json:string>General Hospital Vienna, Waehringer Guertel</json:string><json:string>University of Vienna</json:string><json:string>Austria Peter Solar, Andre Gahleitner, Georg Watzek</json:string><json:string>Free Software Foundation, Boston/MA, USA</json:string><json:string>Austria Joachim Kettenbach, Department of Angiography and Interventional Radiology</json:string><json:string>Department of Oral Surgery</json:string><json:string>Department of Prosthetics</json:string><json:string>Scriptics Corp., Palo Alto</json:string><json:string>Austria Helmar Bergmann, Ludwig-Boltzmann Institute of Nuclear Medicine, Vienna, Austria Correspondence</json:string><json:string>Austria Andre Gahleitner, Franz Kainberger</json:string><json:string>Wolfgang Birkfellner Department of Biomedical Engineering and Physics</json:string><json:string>General Hospital Vienna</json:string></orgName><orgName_funder></orgName_funder><orgName_provider></orgName_provider><persName><json:string>H. Bergmann</json:string><json:string>P. Homolka</json:string><json:string>Wolfgang Birkfellner</json:string><json:string>R. A. Robb</json:string><json:string>Sun UltraSPARC</json:string><json:string>K. Huber</json:string><json:string>D. Dick</json:string><json:string>D. Hanson</json:string><json:string>L. Chamberlain</json:string><json:string>W. Piller</json:string><json:string>Dental School</json:string><json:string>Peter Homolka</json:string><json:string>G. Watzek</json:string><json:string>A. Gahleitner</json:string><json:string>W. Birkfellner</json:string><json:string>J. Kettenbach</json:string><json:string>Klaus Huber</json:string><json:string>Markus Diemling</json:string><json:string>Philips Tomoscan</json:string><json:string>A. Larson</json:string><json:string>P. Solar</json:string><json:string>A. Gamperl</json:string><json:string>F. Kainberger</json:string><json:string>Sun Microsystems</json:string><json:string>M. Eigenschink</json:string><json:string>Case</json:string><json:string>Van Cleynenbreugel</json:string><json:string>M. Diemling</json:string></persName><placeName><json:string>Mass.</json:string><json:string>Rochester</json:string><json:string>Germany</json:string><json:string>Colchester</json:string><json:string>Palo Alto</json:string><json:string>Vienna</json:string><json:string>Amsterdam</json:string><json:string>Cambridge</json:string><json:string>Netherlands</json:string></placeName><ref_url></ref_url><ref_bibl><json:string>Ploder et al. 1995</json:string><json:string>Nasel et al. 1998</json:string><json:string>Stein et al. 1998</json:string><json:string>Taylor 1998</json:string><json:string>Maurer et al. 1998</json:string><json:string>Hill et al. 1994</json:string><json:string>Press et al. 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(1996)</json:string><json:string>Birkfellner et al. 1998a</json:string><json:string>Ryan et al. 1996</json:string><json:string>Jolesz 1998</json:string><json:string>Jacobs & van Steenberghe 1998</json:string><json:string>Besimo et al. 1995</json:string><json:string>Herring et al. 1998</json:string><json:string>Fitzpatrick et al. 1998</json:string><json:string>Solar et al. 1996</json:string><json:string>Hemler et al. 1995</json:string><json:string>Joskowicz et al. 1998</json:string><json:string>Zinreich et al. 1993</json:string><json:string>Taylor et al. (1996)</json:string><json:string>Arun et al. (1987)</json:string><json:string>Fitzpatrick et al. (1998)</json:string><json:string>Verbeeck et al. 1995</json:string><json:string>Ploder et al. (1995)</json:string></ref_bibl><bibl></bibl></unitex></namedEntities><ark><json:string>ark:/67375/WNG-5HQF57V2-S</json:string></ark><categories><wos><json:string>1 - science</json:string><json:string>2 - engineering, biomedical</json:string><json:string>2 - dentistry, oral surgery & medicine</json:string></wos><scienceMetrix><json:string>1 - health sciences</json:string><json:string>2 - clinical medicine</json:string><json:string>3 - dentistry</json:string></scienceMetrix><scopus><json:string>1 - Health Sciences</json:string><json:string>2 - Dentistry</json:string><json:string>3 - Oral Surgery</json:string></scopus></categories><publicationDate>2001</publicationDate><copyrightDate>2001</copyrightDate><doi><json:string>10.1034/j.1600-0501.2001.012001069.x</json:string></doi><id>90EAF67B978EA6CE9A8AD70752D3B776998E3EB7</id><score>1</score><fulltext><json:item><extension>pdf</extension><original>true</original><mimetype>application/pdf</mimetype><uri>https://api.istex.fr/document/90EAF67B978EA6CE9A8AD70752D3B776998E3EB7/fulltext/pdf</uri></json:item><json:item><extension>zip</extension><original>false</original><mimetype>application/zip</mimetype><uri>https://api.istex.fr/document/90EAF67B978EA6CE9A8AD70752D3B776998E3EB7/fulltext/zip</uri></json:item><istex:fulltextTEI uri="https://api.istex.fr/document/90EAF67B978EA6CE9A8AD70752D3B776998E3EB7/fulltext/tei"><teiHeader><fileDesc><titleStmt><title level="a" type="main"><hi rend="italic">In‐vitro</hi> assessment of a registration protocol for image guided implant 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Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria<address><country key="AT"></country></address></affiliation></author><author xml:id="author-0001"><persName><forename type="first">Peter</forename><surname>Solar</surname></persName><affiliation>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria<address><country key="AT"></country></address></affiliation></author><author xml:id="author-0002"><persName><forename type="first">André</forename><surname>Gahleitner</surname></persName><affiliation>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria<address><country key="AT"></country></address></affiliation><affiliation>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria<address><country key="AT"></country></address></affiliation></author><author xml:id="author-0003"><persName><forename type="first">Klaus</forename><surname>Huber</surname></persName><affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria<address><country key="AT"></country></address></affiliation></author><author xml:id="author-0004"><persName><forename type="first">Franz</forename><surname>Kainberger</surname></persName><affiliation>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria<address><country key="AT"></country></address></affiliation></author><author xml:id="author-0005"><persName><forename type="first">Joachim</forename><surname>Kettenbach</surname></persName><affiliation>Department of Angiography and Interventional Radiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria<address><country key="AT"></country></address></affiliation></author><author xml:id="author-0006"><persName><forename type="first">Peter</forename><surname>Homolka</surname></persName><affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria<address><country key="AT"></country></address></affiliation></author><author xml:id="author-0007"><persName><forename type="first">Markus</forename><surname>Diemling</surname></persName><affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria<address><country key="AT"></country></address></affiliation></author><author xml:id="author-0008"><persName><forename type="first">Georg</forename><surname>Watzek</surname></persName><affiliation>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria<address><country key="AT"></country></address></affiliation></author><author xml:id="author-0009"><persName><forename type="first">Helmar</forename><surname>Bergmann</surname></persName><affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria<address><country key="AT"></country></address></affiliation><affiliation>Ludwig‐Boltzmann Institute of Nuclear Medicine, Vienna, Austria<address><country key="AT"></country></address></affiliation></author><idno type="istex">90EAF67B978EA6CE9A8AD70752D3B776998E3EB7</idno><idno type="ark">ark:/67375/WNG-5HQF57V2-S</idno><idno type="DOI">10.1034/j.1600-0501.2001.012001069.x</idno><idno type="unit">CLR120109</idno><idno type="supplier">clr9o574</idno><idno type="toTypesetVersion">file:CLR.CLR120109.pdf</idno></analytic><monogr><title level="j" type="main">Clinical Oral Implants Research</title><title level="j" type="alt">CLINICAL ORAL IMPLANTS RESEARCH</title><idno type="pISSN">0905-7161</idno><idno type="eISSN">1600-0501</idno><idno type="book-DOI">10.1111/(ISSN)1600-0501</idno><idno type="book-part-DOI">10.1111/clr.2001.12.issue-1</idno><idno type="product">CLR</idno><idno type="publisherDivision">ST</idno><imprint><biblScope unit="vol">12</biblScope><biblScope unit="issue">1</biblScope><biblScope unit="page" from="69">69</biblScope><biblScope unit="page" to="78">78</biblScope><biblScope unit="page-count">10</biblScope><publisher>Munksgaard International Publishers</publisher><pubPlace>Copenhagen</pubPlace><date type="published" when="2001-02"></date></imprint></monogr></biblStruct></sourceDesc></fileDesc><profileDesc><abstract xml:lang="en" style="main"><p><hi rend="bold">Abstract:</hi> In this study a computer aided navigation technique for accurate positioning of oral implants was assessed. An optical tracking system with specially designed tools for monitoring the position of surgical instruments relative to the patient was used to register 5 partially or completely edentulous jaw models. Besides the accuracy of the tracking system, the precision of localizing a specific position on 3‐dimensional preoperative imagery is governed by the registration algorithm which conveys the co‐ordinate system of the preoperative computed tomography (CT) scan to the actual patient position. Two different point‐to‐point registration algorithms were compared for their suitability for this application. The accuracy was determined separately for the localization error of the position measurement hardware (fiducial localization error – FLE) and the error as reported by the registration algorithm (fiducial registration error – FRE). The overall error of the navigation procedure was determined as the localization error of additional landmarks (steel spheres, 0.5 mm diameter) after registration (target registration error – TRE). Images of the jaw models were obtained using a high resolution CT scan (1.5 mm slice thickness, 1 mm table feed, incremental scanning, 120 kV, 150 mAs, 512 · 512 matrix, FOV 120 mm). The accuracy of the position measurement probes was 0.69±0.15 mm (FLE). Using 3 implanted fiducial markers, FRE was 0.71±0.12 mm on average and 1.00±0.13 mm maximum. TRE was found to be 1.23±0.28 mm average and 1.87±0.47 mm maximum. Increasing the number of fiducial markers to a total of 5 did not significantly improve precision. Furthermore it was found that a registration algorithm based on solving an eigenvalue problem is the superior approach for point‐to‐point matching in terms of mathematical stability. The experimental results indicate that positioning accuracy of oral implants may benefit from computer aided intraoperative navigation. The accuracy achieved compares well to the resolution of the CT scan used. Further development of point‐to‐point/point‐to‐surface registration methods and tracking hardware has the potential to improve the precision of the method even further. Our system has potential to reduce the intraoperative risk of causing damage to critical anatomic structures, to minimize the efforts in prosthetic modelling, and to simplify the task of transferring preoperative planning data precisely to the operating room in general.</p></abstract><textClass><keywords xml:lang="en"><term xml:id="k1">image guided therapy</term><term xml:id="k2">computer aided surgery</term><term xml:id="k3">implant dentistry</term><term xml:id="k4">registration</term><term xml:id="k5">accuracy</term></keywords><keywords rend="tocHeading1"><term>Original Articles</term></keywords></textClass><langUsage><language ident="en"></language></langUsage></profileDesc></teiHeader></istex:fulltextTEI><json:item><extension>txt</extension><original>false</original><mimetype>text/plain</mimetype><uri>https://api.istex.fr/document/90EAF67B978EA6CE9A8AD70752D3B776998E3EB7/fulltext/txt</uri></json:item></fulltext><metadata><istex:metadataXml wicri:clean="Wiley, elements deleted: body"><istex:xmlDeclaration>version="1.0" encoding="UTF-8" standalone="yes"</istex:xmlDeclaration><istex:document><component version="2.0" type="serialArticle" xml:lang="en"><header><publicationMeta level="product"><publisherInfo><publisherName>Munksgaard International Publishers</publisherName><publisherLoc>Copenhagen</publisherLoc></publisherInfo><doi origin="wiley" registered="yes">10.1111/(ISSN)1600-0501</doi><issn type="print">0905-7161</issn><issn type="electronic">1600-0501</issn><idGroup><id type="product" value="CLR"></id><id type="publisherDivision" value="ST"></id></idGroup><titleGroup><title type="main" sort="CLINICAL ORAL IMPLANTS RESEARCH">Clinical Oral Implants Research</title></titleGroup></publicationMeta><publicationMeta level="part" position="02001"><doi origin="wiley">10.1111/clr.2001.12.issue-1</doi><numberingGroup><numbering type="journalVolume" number="12">12</numbering><numbering type="journalIssue" number="1">1</numbering></numberingGroup><coverDate startDate="2001-02">February 2001</coverDate></publicationMeta><publicationMeta level="unit" type="article" position="0006900" status="forIssue"><doi origin="wiley">10.1034/j.1600-0501.2001.012001069.x</doi><idGroup><id type="unit" value="CLR120109"></id><id type="supplier" value="clr9o574"></id></idGroup><countGroup><count type="pageTotal" number="10"></count></countGroup><titleGroup><title type="tocHeading1">Original Articles</title></titleGroup><eventGroup><event type="firstOnline" date="2001-12-20"></event><event type="publishedOnlineFinalForm" date="2001-12-20"></event><event type="xmlConverted" agent="Converter:BPG_TO_WML3G version:2.3.2 mode:FullText source:FullText result:FullText" date="2010-03-04"></event><event type="xmlConverted" agent="Converter:WILEY_ML3G_TO_WILEY_ML3GV2 version:4.0.1" date="2014-03-12"></event><event type="xmlConverted" agent="Converter:WML3G_To_WML3G version:4.1.7 mode:FullText,remove_FC" date="2014-10-16"></event></eventGroup><numberingGroup><numbering type="pageFirst" number="69">69</numbering><numbering type="pageLast" number="78">78</numbering></numberingGroup><correspondenceTo>
Correspondence to:
<i>Wolfgang Birkfellner</i>,
Department of Biomedical Engineering and Physics,
University of Vienna,
General Hospital 4L,
A‐1090 Vienna, Austria
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e‐mail: <email>Wolfgang.Birkfellner@univie.ac.at</email></correspondenceTo><linkGroup><link type="toTypesetVersion" href="file:CLR.CLR120109.pdf"></link></linkGroup></publicationMeta><contentMeta><unparsedEditorialHistory><b>Date: </b> Accepted 20 January 2000</unparsedEditorialHistory><countGroup><count type="figureTotal" number="8"></count><count type="tableTotal" number="2"></count><count type="formulaTotal" number="0"></count><count type="referenceTotal" number="48"></count><count type="wordTotal" number="7652"></count><count type="linksPubMed" number="32"></count><count type="linksCrossRef" number="15"></count></countGroup><titleGroup><title type="main"><i>In‐vitro</i> assessment of a registration protocol for image guided implant dentistry</title><title type="shortAuthors">Birkfellner et al</title><title type="short"><i>In‐vitro</i> assessment of a registration protocol for image guided implant dentistry</title></titleGroup><creators><creator creatorRole="author" xml:id="cr1" affiliationRef="#a1"><personName><givenNames>Wolfgang</givenNames><familyName>Birkfellner</familyName></personName></creator><creator creatorRole="author" xml:id="cr2" affiliationRef="#a2"><personName><givenNames>Peter</givenNames><familyName>Solar</familyName></personName></creator><creator creatorRole="author" xml:id="cr3" affiliationRef="#a2 #a3"><personName><givenNames>André</givenNames><familyName>Gahleitner</familyName></personName></creator><creator creatorRole="author" xml:id="cr4" affiliationRef="#a1"><personName><givenNames>Klaus</givenNames><familyName>Huber</familyName></personName></creator><creator creatorRole="author" xml:id="cr5" affiliationRef="#a3"><personName><givenNames>Franz</givenNames><familyName>Kainberger</familyName></personName></creator><creator creatorRole="author" xml:id="cr6" affiliationRef="#a4"><personName><givenNames>Joachim</givenNames><familyName>Kettenbach</familyName></personName></creator><creator creatorRole="author" xml:id="cr7" affiliationRef="#a1"><personName><givenNames>Peter</givenNames><familyName>Homolka</familyName></personName></creator><creator creatorRole="author" xml:id="cr8" affiliationRef="#a1"><personName><givenNames>Markus</givenNames><familyName>Diemling</familyName></personName></creator><creator creatorRole="author" xml:id="cr9" affiliationRef="#a2"><personName><givenNames>Georg</givenNames><familyName>Watzek</familyName></personName></creator><creator creatorRole="author" xml:id="cr10" affiliationRef="#a1 #a5"><personName><givenNames>Helmar</givenNames><familyName>Bergmann</familyName></personName></creator></creators><affiliationGroup><affiliation xml:id="a1" countryCode="AT"><unparsedAffiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</unparsedAffiliation></affiliation><affiliation xml:id="a2" countryCode="AT"><unparsedAffiliation>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria</unparsedAffiliation></affiliation><affiliation xml:id="a3" countryCode="AT"><unparsedAffiliation>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</unparsedAffiliation></affiliation><affiliation xml:id="a4" countryCode="AT"><unparsedAffiliation>Department of Angiography and Interventional Radiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</unparsedAffiliation></affiliation><affiliation xml:id="a5" countryCode="AT"><unparsedAffiliation>Ludwig‐Boltzmann Institute of Nuclear Medicine, Vienna, Austria</unparsedAffiliation></affiliation></affiliationGroup><keywordGroup xml:lang="en"><keyword xml:id="k1">image guided therapy</keyword><keyword xml:id="k2">computer aided surgery</keyword><keyword xml:id="k3">implant dentistry</keyword><keyword xml:id="k4">registration</keyword><keyword xml:id="k5">accuracy</keyword></keywordGroup><abstractGroup><abstract type="main" xml:lang="en"><p><b>Abstract:</b> In this study a computer aided navigation technique for accurate positioning of oral implants was assessed. An optical tracking system with specially designed tools for monitoring the position of surgical instruments relative to the patient was used to register 5 partially or completely edentulous jaw models. Besides the accuracy of the tracking system, the precision of localizing a specific position on 3‐dimensional preoperative imagery is governed by the registration algorithm which conveys the co‐ordinate system of the preoperative computed tomography (CT) scan to the actual patient position. Two different point‐to‐point registration algorithms were compared for their suitability for this application. The accuracy was determined separately for the localization error of the position measurement hardware (fiducial localization error – FLE) and the error as reported by the registration algorithm (fiducial registration error – FRE). The overall error of the navigation procedure was determined as the localization error of additional landmarks (steel spheres, 0.5 mm diameter) after registration (target registration error – TRE). Images of the jaw models were obtained using a high resolution CT scan (1.5 mm slice thickness, 1 mm table feed, incremental scanning, 120 kV, 150 mAs, 512 · 512 matrix, FOV 120 mm). The accuracy of the position measurement probes was 0.69±0.15 mm (FLE). Using 3 implanted fiducial markers, FRE was 0.71±0.12 mm on average and 1.00±0.13 mm maximum. TRE was found to be 1.23±0.28 mm average and 1.87±0.47 mm maximum. Increasing the number of fiducial markers to a total of 5 did not significantly improve precision. Furthermore it was found that a registration algorithm based on solving an eigenvalue problem is the superior approach for point‐to‐point matching in terms of mathematical stability. The experimental results indicate that positioning accuracy of oral implants may benefit from computer aided intraoperative navigation. The accuracy achieved compares well to the resolution of the CT scan used. Further development of point‐to‐point/point‐to‐surface registration methods and tracking hardware has the potential to improve the precision of the method even further. Our system has potential to reduce the intraoperative risk of causing damage to critical anatomic structures, to minimize the efforts in prosthetic modelling, and to simplify the task of transferring preoperative planning data precisely to the operating room in general.</p></abstract></abstractGroup></contentMeta></header></component></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>In‐vitro assessment of a registration protocol for image guided implant dentistry</title></titleInfo><titleInfo type="abbreviated" lang="en"><title>In‐vitro assessment of a registration protocol for image guided implant dentistry</title></titleInfo><titleInfo type="alternative" contentType="CDATA" lang="en"><title>In‐vitro assessment of a registration protocol for image guided implant dentistry</title></titleInfo><name type="personal"><namePart type="given">Wolfgang</namePart><namePart type="family">Birkfellner</namePart><affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Peter</namePart><namePart type="family">Solar</namePart><affiliation>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">André</namePart><namePart type="family">Gahleitner</namePart><affiliation>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria</affiliation><affiliation>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Klaus</namePart><namePart type="family">Huber</namePart><affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Franz</namePart><namePart type="family">Kainberger</namePart><affiliation>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Joachim</namePart><namePart type="family">Kettenbach</namePart><affiliation>Department of Angiography and Interventional Radiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Peter</namePart><namePart type="family">Homolka</namePart><affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Markus</namePart><namePart type="family">Diemling</namePart><affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Georg</namePart><namePart type="family">Watzek</namePart><affiliation>Department of Oral Surgery at the Dental School of the University of Vienna, Waehringer Strasse 25A, A‐1090 Vienna, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Helmar</namePart><namePart type="family">Bergmann</namePart><affiliation>Department of Biomedical Engineering and Physics, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria</affiliation><affiliation>Ludwig‐Boltzmann Institute of Nuclear Medicine, Vienna, Austria</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre type="article" displayLabel="article" authority="ISTEX" authorityURI="https://content-type.data.istex.fr" valueURI="https://content-type.data.istex.fr/ark:/67375/XTP-6N5SZHKN-D">article</genre><originInfo><publisher>Munksgaard International Publishers</publisher><place><placeTerm type="text">Copenhagen</placeTerm></place><dateIssued encoding="w3cdtf">2001-02</dateIssued><edition>Date: Accepted 20 January 2000</edition><copyrightDate encoding="w3cdtf">2001</copyrightDate></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><physicalDescription><extent unit="figures">8</extent><extent unit="tables">2</extent><extent unit="formulas">0</extent><extent unit="references">48</extent><extent unit="linksCrossRef">15</extent><extent unit="words">7652</extent></physicalDescription><abstract>Abstract: In this study a computer aided navigation technique for accurate positioning of oral implants was assessed. An optical tracking system with specially designed tools for monitoring the position of surgical instruments relative to the patient was used to register 5 partially or completely edentulous jaw models. Besides the accuracy of the tracking system, the precision of localizing a specific position on 3‐dimensional preoperative imagery is governed by the registration algorithm which conveys the co‐ordinate system of the preoperative computed tomography (CT) scan to the actual patient position. Two different point‐to‐point registration algorithms were compared for their suitability for this application. The accuracy was determined separately for the localization error of the position measurement hardware (fiducial localization error – FLE) and the error as reported by the registration algorithm (fiducial registration error – FRE). The overall error of the navigation procedure was determined as the localization error of additional landmarks (steel spheres, 0.5 mm diameter) after registration (target registration error – TRE). Images of the jaw models were obtained using a high resolution CT scan (1.5 mm slice thickness, 1 mm table feed, incremental scanning, 120 kV, 150 mAs, 512 · 512 matrix, FOV 120 mm). The accuracy of the position measurement probes was 0.69±0.15 mm (FLE). Using 3 implanted fiducial markers, FRE was 0.71±0.12 mm on average and 1.00±0.13 mm maximum. TRE was found to be 1.23±0.28 mm average and 1.87±0.47 mm maximum. Increasing the number of fiducial markers to a total of 5 did not significantly improve precision. Furthermore it was found that a registration algorithm based on solving an eigenvalue problem is the superior approach for point‐to‐point matching in terms of mathematical stability. The experimental results indicate that positioning accuracy of oral implants may benefit from computer aided intraoperative navigation. The accuracy achieved compares well to the resolution of the CT scan used. Further development of point‐to‐point/point‐to‐surface registration methods and tracking hardware has the potential to improve the precision of the method even further. Our system has potential to reduce the intraoperative risk of causing damage to critical anatomic structures, to minimize the efforts in prosthetic modelling, and to simplify the task of transferring preoperative planning data precisely to the operating room in general.</abstract><subject lang="en"><genre>keywords</genre><topic>image guided therapy</topic><topic>computer aided surgery</topic><topic>implant dentistry</topic><topic>registration</topic><topic>accuracy</topic></subject><relatedItem type="host"><titleInfo><title>Clinical Oral Implants Research</title></titleInfo><genre type="journal" authority="ISTEX" authorityURI="https://publication-type.data.istex.fr" valueURI="https://publication-type.data.istex.fr/ark:/67375/JMC-0GLKJH51-B">journal</genre><identifier type="ISSN">0905-7161</identifier><identifier type="eISSN">1600-0501</identifier><identifier type="DOI">10.1111/(ISSN)1600-0501</identifier><identifier type="PublisherID">CLR</identifier><part><date>2001</date><detail type="volume"><caption>vol.</caption><number>12</number></detail><detail type="issue"><caption>no.</caption><number>1</number></detail><extent unit="pages"><start>69</start><end>78</end><total>10</total></extent></part></relatedItem><identifier type="istex">90EAF67B978EA6CE9A8AD70752D3B776998E3EB7</identifier><identifier type="ark">ark:/67375/WNG-5HQF57V2-S</identifier><identifier type="DOI">10.1034/j.1600-0501.2001.012001069.x</identifier><identifier type="ArticleID">CLR120109</identifier><recordInfo><recordContentSource authority="ISTEX" authorityURI="https://loaded-corpus.data.istex.fr" valueURI="https://loaded-corpus.data.istex.fr/ark:/67375/XBH-L0C46X92-X">wiley</recordContentSource><recordOrigin>Munksgaard International Publishers</recordOrigin></recordInfo></mods><json:item><extension>json</extension><original>false</original><mimetype>application/json</mimetype><uri>https://api.istex.fr/document/90EAF67B978EA6CE9A8AD70752D3B776998E3EB7/metadata/json</uri></json:item></metadata><serie></serie></istex></record>Pour manipuler ce document sous Unix (Dilib)
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