. 2023 Dec 6;15:54. doi: 10.1038/s41368-023-00261-0

Table 2.

Assessment of accuracy, tooth structure loss, and success rate on EMS by different methods ex vivo

Order	Authors	Samples	Method	Mean linear deviation/mm	Angle/°	Tissue removal/mm³	Success rate/%
1	Pinsky HM, et al.¹³¹	10 dry mandibles with full set of teeth	SGE	apex 0.79	N/A	N/A	<3 mm 100
1	Pinsky HM, et al.¹³¹	10 dry mandibles with full set of teeth	FH	apex 2.27*	N/A	N/A	(dt) <3 mm 76 (dt)
2	Ackerman S, et al.¹¹¹	48 roots in cadaver model	SGE	apex 1.473	N/A	N/A	<4 mm 100 (dt)
2	Ackerman S, et al.¹¹¹	48 roots in cadaver model	FH	apex 2.638*	N/A	N/A	<4 mm 45.8 (dt)
3	Peng L, et al.¹⁰⁷	56 maxillary anterior teeth in gypsum model fixed on the head-simulator	SGE	apex (ex) 0.31 apex (in) 0.31	deviation(ex) 5.04 deviation(in) 6.79	N/A	N/A
3	Peng L, et al.¹⁰⁷		FH	apex (ex) 0.99 * apex (in) 1.18*	deviation(ex) 16.74* deviation(in) 15.06*	N/A	N/A
4	Hawkins TK, et al.²⁵	72 teeth on 3D-printed Maxillary and mandibular models	TEMS	N/A	resection 6	bone 58.2 root 27.2	N/A
4	Hawkins TK, et al.²⁵	72 teeth on 3D-printed Maxillary and mandibular models	FH	N/A	resection 10.6*	bone 54.9 root 38.3*	N/A
5	Westbrook K, et al.¹⁰⁸	46 roots on cadaver heads	SGE	platform 1.31 apex 1.49	deviation 1.82 resection 2.9	N/A	no perforation 95.7
5	Westbrook K, et al.¹⁰⁸	46 roots on cadaver heads	FH	platform 2.59* apex 3.15*	deviation 10.3* resection 8.3*	N/A	no perforation 95.7
6	Aldahmash SA, et al.¹⁰⁹	48 roots on cadaver heads	DGE (X-guide)	platform 0.6 apex 1.07	deviation 1.1 resection 9.05	bone 82.4	N/A
6	Aldahmash SA, et al.¹⁰⁹	48 roots on cadaver heads	FH	platform 1.29^ apex 2.57^	deviation 16.03^ resection 21.12^	bone 125.2^	N/A
7	Dianat O, et al.¹¹⁰	40 roots on cadaver heads	DGE (X-guide)	platform 0.7 apex 0.65	deviation 2.54	N/A	no mishaps 90%
7	Dianat O, et al.¹¹⁰	40 roots on cadaver heads	FH	platform 2.25^ apex 1.71^	deviation 12.38^	N/A	no mishaps 80%
8	Tang W, et al.¹¹⁴	64 teeth on 3D printed maxillary models	SGE	length (ex) 0.20 length (in) 0.26 depth (ex) 0.65 depth(in) 0.71	deviation (ex) 3.23 deviation (in) 4.08	ex 3.39 in 3.70	no mishaps 100%
			DGE (DCARER)	length (ex) 0.21 length (in) 0.28 depth (ex) 0.45 depth(in) 0.53	deviation (ex) 6.34 deviation (in) 7.18	ex 3.36 in 3.75	no mishaps 100%
			FH	length (ex) 0.68^ length(in) 1.21^ depth (ex) 1.36^ depth(in) 1.91^	deviation (ex) 16.2^ deviation (in) 20.45^	ex 6.70^ in 10.78^	no mishaps (ex) 91.7 no mishaps (in) 58.3*^
9	Martinho FC, et al.¹³²	50 roots on cadaver heads	DGE (X-guide)	platform 1 apex 1.14	deviation (1.94) resection (5.66)	bone 82.27	96%*
9	Martinho FC, et al.¹³²	50 roots on cadaver heads	SGE	platform 1.15 apex 1.21	deviation (1.70) resection (4.70)	bone 76.22	80%^

SGE static guided endodontics, TEMS targeted endodontic microsurgery, DGE dynamic guided endodontics, FH freehand, ex experienced, in inexperienced, an anterior, po posterior, dt distance from the target, *P < 0.05 as compared to SGE, ^P < 0.05 as compared to DGE