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10 Use of Three-Dimensional Technology for Virtual Surgical Planning in Oral…
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Computed tomography (CT) scans and Cone Beam CT (CBCT) both have good spatial resolution, whereas Magnetic Resonance Imaging (MRI) has higher con­trast resolution. MRI is superior to computed tomography in determining soft tissue alterations; however, its ability to provide high-resolution images of bone can be limited [2]. For this reason, CT scans are widely used in oral and maxil­lofacial surgery cases since they often involve hard tissue interventions. CBCT offers high spatial resolution with less radiation exposure compared to CT scans but has poor contrast resolution [3]. The disadvantage of the previous imaging modalities is the inability to capture very ne details of teeth structures such as the ridges and grooves which might be necessary when constructing, for exam­ple, occlusal splints for orthognathic surgery or dental implant surgical guides. 3-dimensional (3D) intraoral laser scanning (IOS) is used to provide the ne details necessary to facilitate procedures when meticulous details are necessary. IOS creates images that are stored as stereolithography le (STL) then undergoes Digital Imaging and Communications in Medicine (DICOM) encapsulation. This process produces a reliable 3D image that can be used to create an accurate vir­tual representation of an object, that is, dentition and gingiva. The high accuracy of virtual surgical planning (VSP) design and translation through cutting guides and hardware have been thoroughly studied and established in the literature [4
7]. In addition, this method to plan surgery has been shown to reduce operative
time and minimize complications in all its applications [811].
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Imaging Modalities—Soft Tissue Considerations
VSP for maxillofacial bony reconstruction is often done in conjunction with imag­ing of related soft tissue structures to obtain adequate coverage of the ablative defect. With respect to soft tissue reconstruction, head and neck surgeons predomi­nantly choose between two approaches: pedicled aps and free aps. The bula and radial forearm regions are among the most common osteomusculocutaneous free ap donor sites to be harvested with a skin island [12]. Adequate perfusion of the tissue is necessary for these aps to be viable. Indeed, perfusion to the donor region should be assessed preoperatively, with methods depending on the chosen site. For example, CT-angiography can be used to conrm the presence of three-vessel run­off in the lower leg for bula free aps. Upon visualizing the perforators from the peroneal artery, bula osteotomies can be planned to obtain a long pedicle and reli­able cutaneous portion [13].
Additionally, the anterolateral thigh (ALT) is the workhorse fasciocutaneous ap for when soft tissue bulk is needed. Emerging technologies such as handheld ther­mal imaging provide a novel intraoperative modality for perforator identication, negating the need for conventional Doppler imaging [14]. Such devices supplement the surgical armamentarium, providing greater condence in the design and perfu­sion of the skin paddle.
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S. A. D. Al Azri et al.
Data Acquisition
Appropriate use of the previously discussed imaging modalities is pertinent to a successful virtual surgical plan when using custom devices. Any anatomical inac­curacies made during data acquisition can compromise the nal surgical outcome.
Most procedures in oral and maxillofacial surgery involving bony reconstruction require CT imaging. An image slice thickness of 1mm is an acceptable compromise between high resolution and minimal radiation exposure for the patient [15].
To facilitate virtual modeling and editing between various software and various clinical applications, CT data is stored in a DICOM format. Conversion of this for­mat to a 3D object le for use in VSP requires virtual stacking of each radiographic section. Proprietary software such as Materialize Mimics (Materialize, Leuven, Belgium) can be used to build a virtual model. If required, the model can be 3D printed at this stage. However, where editing, rendering, and analysis of the virtual model is required, computer-assisted design (CAD) software should be employed. Such commercially available software includes Geomagic® Freeform® PLUS (3D Systems, Rock Hill, SC, USA) and Proplan (Materialize, Leuven, Belgium). The ultimate purpose of these software is to nalize the surgical plan and export the model into additional programs for fabrication of cutting guides or other operative hardware.
Optical scanning is another technology that has proven to be high-yield with regards to data acquisition for VSP in maxillofacial procedures involving dentition. Occlusion-driven, reverse VSP provides the optimal workow for preprosthetic considerations. For example, the Chris O’Brien Lifehouse Cancer Center digital workow for mandible reconstruction begins with the optical scanning of an ideal denture wax-up positioned onto a 3D printed model of the reconstructed bone [16]. This data is superimposed with scans of the existing teeth, denture wax-up, planned reconstruction, dental implants, and native bone using CAD software such as 3ds
®
Max
(Autodesk®, San Rafael, California). This model can then be 3D printed for preoperative bending of an off-the-shelf titanium xation plate if needed. Alternatively, the data obtained from the virtual surgery workow can be used to fabricate customized hardware [17]. Registration of the xation plate and any nec­essary screws can again be done using optical scanning and superimposition onto the virtual plan.
Applications
Orthognathic
Virtual surgical planning (VSP) has revolutionized orthognathic surgery planning. It provides precise and predictable movements of the maxillofacial skeleton com­pared to conventional surgical planning (CSP), which is attributed to numerous
10 Use of Three-Dimensional Technology for Virtual Surgical Planning in Oral…
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opportunities for error and inaccuracies [18]. Combining different imaging modali­ties and intraoral laser scanning (IOS) for virtual surgical planning has replaced the traditional orthognathic workup and need for dental impressions, and face bow measurements with the added benet of reduced inaccuracies and costs [6, 18]. Jones and colleagues [6] found that the use of patient-specic cutting guides and implants constructed with VSP provide more accurate maxillary repositioning dur­ing bimaxillary surgery than the use of an interim splint constructed by traditional methods. Resnick and colleagues [19] further examined operative time and cost of bimaxillary surgeries of 43 patients to show that operative time and costs were sig­nicantly higher in all the patients with conventional orthognathic workup com­pared with VSP surgeries. These ndings are signicant because prolonged operative time is closely correlated with increased postoperative complications [20]. VSP has made orthognathic surgeries more accurate and efcient when com­pared to conventional surgical planning [21, 22]. A standard orthognathic VSP workow is outlined in Fig.10.2.
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Pathology andReconstruction
Oncologic resection and reconstruction of maxillofacial defects has seen an immense benet from 3D technology such as VSP. Throughout the digital work­ow, 3D technology provides the ability to accurately visualize the pathology and more condently plan the required osteotomies (Fig.10.3). Particularly, with respect to areas of the midface, where direct visualization of some pathologies can be hard to obtain, that is, within the paranasal sinuses and nasal cavity. Using existing imag­ing techniques, patient-specic cutting guide designs can be optimized to prevent inadvertent injury to vital structures, such as at the skull base while maintaining safe oncologic margins.
Additionally, immediate intraoperative feedback can be achieved through the integration of both live 3D navigation and VSP together. Osteotomies made using these modalities in anatomical models have been more accurate in distance, pitch, and roll [23].
Clinically, the margins for surgical resection of lesions can be difcult to discern, such as in osteoradionecrosis (ORN). In these patients, dosimetry-guided VSP has emerged as a new technique that can be used to plan optimal osteotomies, with the goal of obtaining healthy native bone margins. By superimposing previously deliv­ered radiotherapy dosimetry data onto the corresponding virtual mandible, Jenkins and colleagues [24] have been able to use IPS® planning software (KLS Martin IPS Service UK Ltd) to integrate a radiation “heat-map” of the affected mandible with CT data to redene the necessary margins. This additional planning stage is impor­tant where the mandible has received >60Gy of radiation, placing the native bone at higher risk of ORN [25].
The recent adoption of Titanium Milling and Selective Laser Melting (SLM) manufacturing techniques in high-volume surgical centers has heralded a shift from
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Data Collection
Obtain intraoral and extraoral photographs with a standardized background (white or blue
1. wall) Fabricate stone or digital models (intraoral scans) in reproducible centric occlusion
2. Deliver data to processing center for rendering (digital upload or physical media)
3. Often stone casts are sent with digital scans as a reference mark to the final occlusion
4.
Though optional, casts are particular helpful in segmental surgical planning
5.
Pre-Planning
Stone models are superimposed with CT images to check for inaccuracies
1. Once verified, scans are imported into digital cephalometric program such as Dolphin
2. Cephalometric points and planned osteotomies are imported into the digitized facial skeleton
3.
Coordinate planning session with surgeon, engineer, and possibly orthodontist
4.
Planning Session (Digital Model Surgery)
First, assess for maxillary cant and maxillary dental and facial midline (refer to clinical photos)
1. Le Fort osteotomy is virtually placed based on anatomical landmarks (i.e. canine apices)
2.
3.
If required, interdental maxillary osteotomies can be placed at this time Cephalometric measurements are placed in the lateral view (SNA, SNB, maxillary depth, etc.)
4. Determine vertical position of maxilla based on clinical photos
5.
6.
Once the maxilla is in ideal position, the mandible can be placed into class I canine occlusion
7.
The type of mandible osteotomy (SSO vs. VRO) should be made known to all planning members
8.
A genioplasty can be virtually executed at this point, if necessary
S. A. D. Al Azri et al.
Osteotomy guides are typically based on occlusal surfaces for stability
1. Occlusal splints are fabricated to guide the final position of the osteotomy segments
2. Stereolithic models allow evaluation of critical landmarks (i.e. neurovascular bundle)
3.
Fig. 10.2 Orthognathic surgery workow. SNA Sella Nasion A, SNB Sella Nasion B, SSO sagittal split osteotomy, VRO vertical ramus osteotomy. (Reproduced with permission from Hua, Jack etal.
“Virtual Surgical Planning in Oral and Maxillofacial Surgery.” Oral and maxillofacial surgery clinics of North America vol. 31,4 (2019): 519–530. doi:10.1016/j.coms.2019.07.01)
off-the-shelf xation plates to personalized patient-specic plates. As a result of VSP, titanium plates can be purpose-built for specic cases, taking care to avoid any vital structures detected on imaging. Milled mandibular plates are manufactured from a titanium alloy block, for which a computer-assisted design (CAD) is gener­ated using a digital contour of the reconstructed virtual mandible. Conversely, SLM
Manufacturing Considerations
10 Use of Three-Dimensional Technology for Virtual Surgical Planning in Oral…
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Fig. 10.3 Resection margins are determined during virtual surgical planning. Three­dimensional (3D) objects are created from computed tomography (CT) and cone beam scan images. (a) 3D reconstructed coronal view of myxoma in the left mandible. Area of resection highlighted in red. (b) 3D reconstructed Sagittal view of myxoma in the left mandible. Area of resection highlighted in red. (Courtesy of DePuy
Synthes/Materialise)
a
b
manufacturing of personalized plates involves a type of 3D printing where titanium particles are melted and fused together in the desired fashion. Because of their exact manufacturing technique, personalized plates may provide a better biomechanical outcome compared to conventional plates that undergo material deformation during bending [26]. Personalized plates also allow for further modications to be made. Smith and colleagues [27] have introduced an additional tab to their SLM plates that wraps around the lateral mandibular segment for additional xation (Fig.10.4). When planned correctly, the temporary xation holes of each cutting guide can also be repurposed for subsequent parts of the reconstruction such as permanent xation and dental implant placement, taking care to avoid any vital neurovascular struc­tures. Additionally, adequate occlusion for oral rehabilitation can be obtained through using VSP for precise implant placement, preventing buccal or lingual rota­tion of the implant and osseous ap [28].
A relatively novel application of this technology has been the 3D printing of single-unit titanium plates for vascularized maxillary reconstruction (Fig. 10.5). The University of Texas Health Sciences Center at Houston (UTHealth) were the
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a
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Fig. 10.4 Virtually constructed three­dimensional (3D) printed bone plate with added registration tables. (a) Axial view of 3D reconstructed mandible with bula segments and personalized plate. Fibula segments are highlighted in green and yellow. Arrows denote the registration tables. (b) Lateral view of 3D reconstructed mandible. Arrows denote the registration tabs.
(Courtesy of DePuy Synthes/Materialise)
S. A. D. Al Azri et al.
b
rst reported surgical team to use a customized single-unit system for this purpose (Synthes PSI TRUMATCH CMF Solutions; Depuy Synthes CMF, West Chester, PA) [29]. The primary goal of using VSP in maxillary cases is to preoperatively design a specic plate for the neomaxilla that maximizes contact with the thickest portion of the remaining healthy midface bone. This enables engagement of an opti­mal bilateral zygomaticomaxillary buttress (Fig.10.6). The secondary goal of these custom plates is to minimize the plate prole, thus preventing extrusion out of the soft tissue. Ultimately, customized plates designed with VSP provide a comprehen­sive and efcient approach to maxillary reconstruction.
Using VSP has also facilitated accurate localization and reconstruction of soft tissue structures within bone (Fig.10.7).
For the maxillofacial cancer patient, oral health-related quality of life can be negatively impacted by problems related to chewing, esthetics, and speech that arise
10 Use of Three-Dimensional Technology for Virtual Surgical Planning in Oral…
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Fig. 10.5 Virtually constructed three­dimensional (3D) printing single unit titanium plate for vascularized maxillary reconstruction. Coronal view of personalized hardware. Fibula segments are highlighted in purple, yellow, and green.
(Courtesy of DePuy Synthes/Materialise)
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from missing teeth. Therefore, the paradigm of occlusion-driven planning for implant reconstruction and prosthetics has dominated head and neck surgery in recent years. For example, following the virtual design of a neomandible using bu­lar reconstruction, the occlusion can be superimposed to be coincident with the opposing arch. This will guide the placement of dental implants to support a xed or removable prosthesis.
Although the bula remains the workhorse ap for reconstructing composite maxillofacial defects, alternative approaches continue to be developed. In 2017, Gellrich and colleagues [30] were the rst to describe a novel patient-specic tita­nium framework implant system used for the oral rehabilitation of patients with severe alveolar atrophy or resected maxilla. Using the aforementioned SLM tech­nology, a patient-specic titanium scaffold and implant construct is engineered fol­lowing digital prosthetic assessment and planning. To obtain this virtual plan, the surgeon must obtain a stereolithographic (STL) le of the future denture using an optical scanner before digitally fusing that data with the patients’ CT scans and planning the reconstruction starting at the occlusion [30]. These processes can be done in-house if needed, using a planning tool such as iPlan® (Brainlab®, Feldkirchen, Germany) and a computer-aided design software such as Geomagic®
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S. A. D. Al Azri et al.
ab
Fig. 10.6 The three-dimensional (3D) printed single unit maxillary plate xed to the bula seg­ments. (a) After harvest/prior to inset to the maxilla. (b) Maxillary construct with custom plate, installed into recipient site, after inset
Freeform® PLUS (3D Systems, Rock Hill, SC, USA). By using this workow,
Spalthoff and colleagues [31] demonstrated that the dental rehabilitation of patients using the novel implant system was comparable to conventional rehabilitation with­out digital planning. Therefore, computerized planning of these prosthetics and reverse engineering of the implant scaffold provides a promising alternative to con­ventional soft and hard tissue reconstruction following ablative surgery.
However, development of the plan and manufacturing of guides necessitates extra time. Most centers do not have the resources to complete a full workow in- house and must outsource this to an external collaborator. Despite being criticized for potentially delaying surgery, incorporating the VSP workow has not been shown to compromise oncologic outcome and has shown a statistically signicant reduction in operating time between 30 and 90mins including free ap reconstruction [32].
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201
ac
d
b
Fig. 10.7 (a) Integration of cutting slots in the cutting guide to assist in lateral corticotomy win­dow and localize the inferior alveolar nerve. (Courtesy of KLS Martin Group). Arrow denotes groove for the location of the inferior alveolar nerve. (b) Close up of the cutting guide and oste­otomy window. (c) Inferior alveolar nerve lateralization as assisted by the integrated slots in the cutting guide followed by (d). Reconstruction with nerve graft
Jaw inaDay
Placement of osseointegrated dental implants primarily in vascularized free ap was rst described in 1989 by Urken etal. [33]. The immediate placement of dental implants into the neomandible, while it is still at the donor site, has the advantage of access to ensure accurate placement of the dental implant, adequate assessment of ridge thickness and height, and less stages involved as compared to implant place­ment after bone and soft-tissue healing, which ultimately means earlier dental reha­bilitation [34]. These dental implants were restored traditionally in collaboration
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with dental laboratories, which resulted in unavoidable delays and patient dissatis­faction. Hutchison and Dawood rst performed immediate loading of dental implants placed in reconstructed microvascular scapula ap in 2007 [35]. This has further evolved to in-house creation of 3D printed dental prosthesis, which has been described and popularized recently with the advent of point-of-care three­dimensional (3D) printing. The in-house 3D printed prosthesis required a shorter time to be constructed, and the cost of fabrication was less compared to laboratory­fabricated prostheses [36]. Case selection is very important to predict the soft-tissue needs for composite defects. VSP revolutionized osteocutaneous vascularized free ap planning in terms of ideal positioning in the maxillofacial skeleton and taking into account the occlusal relationships which subsequently can be used for ideal position of dental implants using the same cutting guides. The digital data required for planning immediate dental implants on bula include: CBCT, CT scan of the bula with 1mm cuts, and digital model of the existing teeth, which can be obtained by intraoral scanner, optical dental scan, or CBCT of polyvinyl siloxane impression. The digital data is then processed and used by commercially available planning software to plan the immediate prosthesis. The plan is then executed and used to 3D print the nal prosthesis using a commercially available 3D printer. Other supplies such as alcohol bath and curing ovens are also required for post-printing processing and nalization of the restoration. The concept of jaw in a day is combining multi­ple advances in planning, accuracy, and the ability to fabricate prosthesis to be avail­able on the day of surgery [37] (Fig.10.8).
S. A. D. Al Azri et al.
Future Directions
Although VSP can improve the outcomes of many complex and technically chal­lenging surgeries, it has limitations that are currently beyond the surgeons’ control. Barriers to the effective use of VSP are associated with the inherent delays associ­ated with current manufacturing capabilities and human error. On average, the authors’ experience with the turnover between VSP planning session to delivery of implant/guides can range between 7 and 14days for pre-bent and milled hardware, whereas 3D-printed plates and laser-sintered hardware can be produced in 14–17days. These limitations are due to the logistics involved in the processing, quality control, and transportation of the prostheses. Several options are available to reduce the turnaround time, through the use of in ofce or institutional 3D printers and resources. Surgeons have become their own engineer to design and facilitate the planning process and create acrylic guides; we are still limited by the ability to print or mill implants and hardware. Data sets can be created faster and forwarded to manufacturing sites to create the implants and hardware. Virtual surgical planning will continue to improve, and methods to acquire and process patient data will become more rened. Meticulous attention to each step is necessary to ensure a positive outcome. Future trends will likely include widespread availability of 3D printing and manufacturing technology and an increasing number of surgeons tak­ing on the role of the engineer.
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