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
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assessment of a registration protocol for image guided implant dentistry</title>
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<author><name sortKey="Homolka, Peter" sort="Homolka, Peter" uniqKey="Homolka P" first="Peter" last="Homolka">Peter Homolka</name>
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<author><name sortKey="Watzek, Georg" sort="Watzek, Georg" uniqKey="Watzek G" first="Georg" last="Watzek">Georg Watzek</name>
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<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>
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<term>Maxilla</term>
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<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>
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<term>Reformatted slices</term>
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<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>
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<term>Surface points</term>
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<term>Target registration error</term>
<term>Technical accuracy</term>
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<term>Wolfgang birkfellner</term>
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<term>Biomedical imaging resource</term>
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<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>
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<term>High resolution</term>
<term>Ieee</term>
<term>Ieee trans</term>
<term>Ieee transactions</term>
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<term>Imaging</term>
<term>Imaging techniques</term>
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<term>Implant</term>
<term>Implant dentistry</term>
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<term>Implant placement</term>
<term>Implant position</term>
<term>Implant surgery</term>
<term>Implantes orales</term>
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<term>Intensity centroid</term>
<term>Large extent</term>
<term>Lavallee</term>
<term>Local anaesthesia</term>
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<term>Mandible model</term>
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<term>Molar area</term>
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<term>Navigation system</term>
<term>Nuclear medicine</term>
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<term>Optical tracker</term>
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<term>Oral implants</term>
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<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>
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<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>
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<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>
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<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>
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<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>
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</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>
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<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>
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<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>
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<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>
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</json:item>
<json:item><name>Helmar Bergmann</name>
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<json:string>Ludwig‐Boltzmann Institute of Nuclear Medicine, Vienna, Austria</json:string>
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<value>image guided therapy</value>
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</lang>
<value>computer aided surgery</value>
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<json:item><lang><json:string>eng</json:string>
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<value>implant dentistry</value>
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<json:item><lang><json:string>eng</json:string>
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<value>registration</value>
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<value>accuracy</value>
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<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>
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<title>In‐vitro assessment of a registration protocol for image guided implant dentistry</title>
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<json:string>Press et al. (1992)</json:string>
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<json:string>Rothman et al. 1988</json:string>
<json:string>Vannier et al. 1997</json:string>
<json:string>Horn (1987)</json:string>
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<json:string>Watzinger et al. 1999</json:string>
<json:string>Horn 1987</json:string>
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<json:string>Lavallee 1996</json:string>
<json:string>Grimson et al. 1996</json:string>
<json:string>Hobkirk & Havthoulas 1998</json:string>
<json:string>Fenster & Downey 1996</json:string>
<json:string>Verstreken et al. 1996</json:string>
<json:string>Quirynen et al. 1990</json:string>
<json:string>Solar et al. (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>
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<author xml:id="author-0000"><persName><forename type="first">Wolfgang</forename>
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<author xml:id="author-0001"><persName><forename type="first">Peter</forename>
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<author xml:id="author-0002"><persName><forename type="first">André</forename>
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<affiliation>Department of Osteoradiology, University of Vienna, General Hospital Vienna, Waehringer Guertel 18–20, A‐1090 Vienna, Austria<address><country key="AT"></country>
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<author xml:id="author-0003"><persName><forename type="first">Klaus</forename>
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<author xml:id="author-0004"><persName><forename type="first">Franz</forename>
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<author xml:id="author-0007"><persName><forename type="first">Markus</forename>
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<author xml:id="author-0008"><persName><forename type="first">Georg</forename>
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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>
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Correspondence to:
<i>Wolfgang Birkfellner</i>
,
Department of Biomedical Engineering and Physics,
University of Vienna,
General Hospital 4L,
A‐1090 Vienna, Austria
Tel.: +43 1 40 400 3982
Fax: +43 1 40 400 3988
e‐mail: <email>Wolfgang.Birkfellner@univie.ac.at</email>
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<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>
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