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Clinical Oral Investigations

https://doi.org/10.1007/s00784-019-02995-w

ORIGINAL ARTICLE

Digital impressions in dentistry—accuracy of impression


digitalisation by desktop scanners
Cornelius Runkel 1 & Jan-Frederik Güth 2 & Kurt Erdelt 2 & Christine Keul 2

Received: 12 November 2018 / Accepted: 28 June 2019


# Springer-Verlag GmbH Germany, part of Springer Nature 2019

Abstract
Objectives To test if the partially digital workflow by digitalisation of the impression reveals a comparable accuracy as the
indirect digitalisation of the gypsum cast for 4-unit fixed dental prostheses (FDPs).
Materials and methods A titanium model with a tapered full veneer preparation of a molar and premolar was used as analysis
model. To receive a virtual three-dimensional reference dataset (REF), it was digitised by industrial computed tomography. Three
impression materials were used with individual impression trays (N = 36, n/material = 12): (1) PE (Impregum Penta), (2) PVS-I
(Imprint 4 Penta: Super Quick Heavy plus Super Quick Light), and (3) PVS-D (Dimension Penta: H Quick plus L). For partially
digital workflow (group IMP), two desktop scanners were used: (1) D810 (3Shape D810) and (2) ZZ (Zirkonzahn S600ARTI).
For indirect digitalisation (group CAST), gypsum master casts were manufactured and digitalised using the same desktop
scanners. Virtual datasets were superimposed by best fit algorithm, and accuracy was analysed by calculating the Euclidean
distances (ED) to the REF (Geomagic Qualify). Statistic was determined (Kruskal-Wallis H test, Mann-Whitney U post hoc
analysis, two-sample Kolmogorov-Smirnov test, p < 0.05).
Results ZZ showed for positive deviations superior accuracy for IMP than for CAST. PE and PVS-I showed superior accuracy
than PVS-D. D810 showed partially significant better performance with PVS-I and PVS-D than ZZ.
Conclusions The partially digital workflow by digitalisation of the impression can be used for clinical indications of small-span
fixed dental prostheses. However, for this indication, the impression material and the desktop scanner are more decisive for the
accuracy of virtual model datasets.
Clinical relevance Despite the rapid advancement of the computer-aided technology for dental therapy purposes, the implemen-
tation of this technique is not as fast as the technical development. In order to combine the well-established procedure to use
elastomeric materials for a conventional impression and to avoid the drawbacks of casting it by gypsum, the digitalisation of the
impression itself by a desktop scanner may be a logical procedure as an access point to the digital workflow. However, there is
only limited information about the accuracy of this partially digital workflow by the digitalisation of modern impression materials
in comparison to the well-known process of indirect digitalisation of gypsum casts.

Keywords Digital impression . Impression material . Impression scan . Cast scan . Accuracy

Introduction impression taking. However, even after the preparation of a tooth


and impression taking, it is still a multistep process to the final
Despite the fact that intraoral scanners are being used more in restoration, crowded with plenty of possible mistakes, like the
dental offices, conventional impressions are still the most used impression itself, casting, and indirect digitalisation [1]. Hereby,
technique and they are still considered to be the gold standard in the choice of impression material, as well as the applied impres-
sion technique, the disinfection protocol, the transport, the reset
time, the type of gypsum, and even the time between the single
* Christine Keul steps, influences the accuracy [2–5]. Therefore, optical intraoral
christine.keul@med.uni-muenchen.de
digitisation seems to be the logical way to access the following
1
Wetter (Ruhr), Germany digital workflow of computer-aided design (CAD) and
2 computer-aided manufacturing (CAM); this is because
Department of Prosthetic Dentistry, University Hospital of the LMU
Munich, Goethestraße 70, 80336 Munich, Germany workflows with less intermediate steps allow for the prevention
Clin Oral Invest

of failures and for more control. This theory has been proven, as unit FDP (fixed dental prosthesis) was used for the current
several studies have shown a high accuracy for direct study (Fig. 1). To produce a virtual three-dimensional refer-
digitalisation and the respective workflows of single crowns up ence dataset (REF), it was digitised using an industrial com-
to one quadrant [6–8]. For the digital workflow for full-arch puted tomography (Perkin Elmer PE XRD 1620; Feinfocus
restorations, there is not enough scientific clarification. FXE 225.99 at EZRT, Fürth, Germany). According to the
On the other hand, there are several reasons why the con- manufacturer, the accuracy of the reference dataset was
ventional workflow including impression taking, gypsum 3 μm. The exact fabrication process, the elicitation of the
pouring, and indirect digitalisation in the dental laboratory is reference dataset, and the post-processing of the data to pro-
still used in most dental offices. First of all, there are situations duce a highly accurate reference dataset (marching cubes
where an intraoral scanning device cannot be used due to method) have been previously described in depth [6].
clinical circumstances, like highly reflecting surfaces, very
deep subgingival preparations with complicated tissue man- Impression taking
agement, moisture, and bleeding. Probably, the most impor-
tant reason is the high costs for the equipment, the implemen- Three different materials for precision impressions (one
tation of the new procedures into the daily routines, and the polyether: Impregum; two polyvinyl siloxane materials:
reorganisation of the synchronisation between the dental of- Imprint 4 and Dimension) were used for the analysis. All
fice and dental laboratory. Due to these reasons, the use of material information and abbreviations are given in Table 1.
innovative intraoral scanning devices is mostly preferred by Twelve impressions of the titanium testing model were
the younger generation [9]. In order to combine the well- taken with each impression material by the same experienced
established procedure of using elastomeric materials for a con- examiner, following the manufacturer’s recommendations re-
ventional impression and to avoid the drawbacks of casting it garding setting time and processing, using customised impres-
using gypsum, the digitalisation of the impression itself by a sion trays (Palatray XL). According to the clinical application,
desktop scanner may be a logical procedure. the impressions were disinfected for 2 min (ORBI-sept
Prior studies have determined the accuracy of desktop Abformdesinfektion).
scanners on reference structures without the intermediate steps For the polyether material, Impregum (PE), the impression
of impression taking or gypsum pouring in which acceptable trays were applied with 3M ESPE Polyether Tray Adhesive
values for clinical use were stated for the digitalisation and twelve impressions were taken with a mono-phase tech-
[10–12]. However, for the digitalisation of the impression, nique. For the polyvinyl siloxane materials, the impression
deep undercuts and small diameters limit the accessibility of trays were applied with 3M ESPE VPS Tray Adhesive. For
optical scanning devices to parts of the impression due to Imprint (PVS-I) and Dimension (PVS-D), twelve impressions
shadowing, especially when the scanning device is based on were taken with a double-mix technique (Fig. 1).
triangulation technology.
Currently, there is a lack of studies comparing the accuracy Indirect digitalisation of impressions (group IMP)
of the partially digital workflow by the digitalisation of mod-
ern impression materials using different laboratory scanning Eight hours after taking the impressions, a thin layer of anti-
devices. Also, to the best of the author’s knowledge, there are glare scan spray was applied and the impressions were
no studies comparing the accuracy of the resulting datasets
when the impression itself is scanned versus the well-known
procedure of gypsum cast digitalisation.
So, the aim of this in vitro study focuses on the following
question: does it makes sense to scan the impression itself
instead of the poured gypsum cast? The null hypothesis of
the study was that no differences regarding the accuracy of
the obtained datasets can be found between the model and
impression scans.

Materials and methods

Test model and reference dataset


Fig. 1 From left to right: The titanium analysis model, the impressions in
individual trays (Impregum Penta, Imprint 4 Penta Super Quick Heavy/
A titanium test model of a premolar (FDI 14) and a molar (FDI Imprint 4 Penta Super Quick Light, Dimension Penta H Quick/
17) with chamfer preparations representing a basis for a four- Dimension Penta L), and the sectioned gypsum cast
Clin Oral Invest

Table 1 Materials used in the present study

Product Lot no. Manufacturer Abbreviation

Impregum Penta Base 512888 3M ESPE Dental Products, Seefeld, Germany PE


Catalyst 512314
Imprint 4 Penta Super Quick Heavy 555586 3M ESPE Dental Products, Seefeld, Germany PVS-I
Imprint 4 Super Quick Light 556704 3M ESPE Dental Products, Seefeld, Germany
Dimension Penta H Quick 628275 3M ESPE Dental Products, Seefeld, Germany PVS-D
Dimension Penta L 623829 3M ESPE Dental Products, Seefeld, Germany
Palatray XL 132651 Heraeus Kulzer, Hanau, Germany –
ORBI-sept Abformdesinfektion A0984 Orbis Dental Handelsgesellschaft GmbH, Münster, Germany –
3M ESPE Polyether Tray Adhesive 528962 3M ESPE Dental Products, Seefeld, Germany –
3M ESPE VPS Tray Adhesive 575501 3M ESPE Dental Products, Seefeld, Germany –
Fino Scan Stone 313096 DTShop GmbH, Bad Bocklet, Germany –
suppen-sockler 4-55262 Picodent Dental-Produktions- und Vertriebs-GmbH, –
Wipperfürth, Germany

scanned using two laboratory desktop scanning systems For each single measurement point, the corresponding
3Shape D810 and Zirkonzahn S600 ARTI. Exact device de- three-dimensional Euclidean distance (ED) was computed
scriptions are also listed in Table 2. by the inspection software (Fig. 2). In relation to the reference
dataset, those distances could take positive or negative values.
In accordance with ISO 5725-1 [13], the trueness was de-
Manufacturing of the gypsum casts and indirect fined as the closeness of agreement between the experimental
digitalisation (group CAST) dataset and the reference dataset, which was determined by
measuring the ED between the reference dataset and the test
Twenty-four hours after taking the impression, the previously dataset. The precision was characterised by the scatter range
scanned impressions were poured using a scannable type IV of all measured ED values and is a sign of the reproducibility
gypsum (Fino Scan Stone) and the sockets were manufactured of the measuring method in question.
for each model after 12 h (Suppen-Sockler). After a further
24 h, the casts were sectioned into three parts to receive master
models (Fig. 1). All master models were also scanned with the Statistical analysis
same two scanners.
Descriptive statistics were calculated for each group and pa-
Alignment of datasets and analysis rameter (positive deviation and negative deviation). Data was
of the three-dimensional divergences analysed for the normal distribution using the Kolmogorov-
Smirnov and Shapiro-Wilk tests.
All scans (N = 144; n = 12/group) were exported as STL To evaluate the statistically significant differences for the true-
datasets, which were imported into the inspection software ness in the positive, negative, and absolute value ranges, a
Qualify (version 02.01.2012; Geomagic, Morrisville, NC, Kruskal-Wallis H test (p < 0.05) followed by a Mann-Whitney
USA) for further editing and analysis. The test datasets were U post hoc analysis with a significance correction (material:
roughly adjusted by the examiner with the reference dataset p < 0.017, scanning object: p < 0.05, scanner: p < 0.05) was
for removing the artefacts and the areas without interest (1 mm performed.
below the preparation margin). After that, a highly precise To evaluate the statistically significant differences for the
adjustment of the test datasets was executed using a best fit precision in the positive and negative value ranges, a two-
superimposition with the reference dataset (Fig. 2). sample Kolmogorov-Smirnov test (p < 0.05) was performed.

Table 2 Desktop scanner used in the present study with software version

Desktop scanner Software version Manufacturer Abbreviation

3Shape D810 Dental System 2014-1 × 64 (build: 2.9.9.5–16.09.2014) 3Shape, Copenhagen, Denmark D810
Zirkonzahn S600ARTI Zirkonzahn–Archiv version 2012.06, database engine Zirkonzahn GmbH, Gais, Italy ZZ
build 4539 (2012-06-05)
Clin Oral Invest

Fig. 2 Three-dimensional analysis of datasets from (a) digitalisation of field of interest (blue); 3, alignment with the reference dataset (grey); 4,
impression and (b) digitalisation of sectioned gypsum cast. 1, imported three-dimensional analysis and colour-coded depiction of deviations.
dataset after digitalisation; 2, reduction of the dataset after reduction to the

Results confidence interval for each parameter, are given in


Table 3. The Kolmogorov-Smirnov and Shapiro-Wilk
The mean values and their standard deviation, as well tests revealed that 6 of the 24 test groups had no nor-
as the m inimum, m edian, maximum, and 95% mal distribution for the deviation parameters. Figure 3
Table 3 Values of Euclidean distances

Positive deviation (μm) Negative deviation (μm)


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D810 ZZ D810 ZZ

Min Med Max MW (SD) 95% CI Min Med Max MW (SD) 95% CI Min Med Max MW (SD) 95% CI Min Med Max MW (SD) 95% CI

PE IMP
12.0 19.5 32.0 20.9 (5.7) 17.2/24.6 11.0 17.0 24.0 17.4 (4.0) 14.8/20.0 13.0 16.0 24.0 17.1 (4.0) 14.6/19.6 15.0 *21.5 44.0 25.0 (9.7) 18.9/31.1
a/A/1 a/A/1 b/A/1 ab/A/1
CAST 13.0 *17.0 40.0 19.7 (8.0) 14.5/24.8 14.0 21.5 35.0 22.8 (6.4) 18.7/27.0 9.0 17.5 31.0 18.1 (6.9) 13.8/22.4 12.0 16.5 30.0 18.6 (5.5) 15.2/22.0
a/A/1 a/B/1 a/A/1 a/A/1
PVS-I IMP 12.0 17.0 32.0 18.9 (5.8) 15.2/22.7 19.0 21.5 27.0 22.2 (2.7) 20.4/23.9 12.0 *12.5 22.0 14.4 (3.3) 12.4/16.5 16.0 20.0 23.0 19.8 (2.1) 18.5/21.1
a/A/1 b/A/1 a/B/1 a/A/2
CAST 12.0 17.0 32.0 18.4 (6.2) 14.4/22.4 20.0 *27.0 42.0 28.6 (6.8) 24.2/33.0 9.0 12.0 18.0 12.8 (3.3) 10.7/14.8 11.0 16.5 25.0 17.8 (3.9) 15.4/20.3
a/A/1 ab/B/2 a/A/1 a/A/1
PVS-D IMP 12.0 22.5 55.0 27.0 (12.4) 19.1/34.9 14.0 28.5 63.0 32.3 (16.5) 21.8/42.9 11.0 *24.0 74.0 32.8 (22.2) 18.8/46.9 23.0 *40.5 96.0 50.3 (25.4) 34.2/66.4
a/A/1 ab/A/1 b/A/1 b/A/2
CAST 12.0 30.5 52.0 29.3 (11.4) 22.1/36.6 20.0 31.0 54.0 31.8 (10.0) 25.4/38.2 14.0 32.0 73.0 35.9 (18.6) 24.1/47.7 18.0 36.0 63.0 37.0 (15.3) 27.3/46.7
a/A/1 b/A/1 b/B/1 a/A/2

Min minimum, Med median, Max maximum, MW mean values, SD standard deviation, 95% CI 95% confidence intervals for positive and negative deviations
Significant differences are indicated as follows:
Lower case letters: differences between impression material within one single scanning object and one desktop scanner
Capital letters: differences between scanning object within one single impression material and desktop scanner
Numbers: differences between desktop scanner within one single impression material and scanning object
* not normally distributed
Clin Oral Invest

Fig. 3 Boxplots of the positive and negative deviations for all impression materials, scanning objects, and desktop scanners

gives the boxplots of the positive and negative devia- negative deviations was found for PVS-I, while within
tions for all groups. positive deviations, no significant differences occurred.
For the D810-CAST, the material PVS-D showed the
Determination of ‘trueness’ significantly lowest trueness within the negative devia-
tions, while for positive deviations, no significant differ-
Regarding the differences between impression scans and ences occurred. For the ZZ-IMP, the significantly
cast scans, the following differences could be found: highest trueness was found for the material PVS-I with-
For the D810 scanner and PVS-D, the digitalisation of in the negative deviations and for the material PE with-
the IMP resulted in a significantly higher trueness than in the positive deviations. For the ZZ-CAST, no signif-
the CAST within negative deviations, while for impres- icant differences were found within the negative devia-
sion material PVS-I, digitalisation of the CAST showed tions, while within the positive deviations, the material
a significantly higher trueness than IMP. For the ZZ PE showed the significantly highest trueness.
scanner and PE plus PVS-I impression materials, the Regarding the scanning system, the following differences
digitalisation of the IMP resulted in a significantly could be found: For the PVS-I impression material, D810
higher trueness than the digitalisation of the CAST resulted in a significantly higher trueness than ZZ within the
within positive deviations. negative deviations for IMP and within the positive deviations
Comparing the impression materials under each other, for CAST. For the PVS-D impression material, D810 resulted
the following differences could be found: For the D810- in a significantly higher trueness than ZZ within the negative
IMP, the significantly highest trueness within the deviations for the groups IMP and CAST.
Clin Oral Invest

Determination of the ‘precision’ described in multiple previous studies [6, 8, 14–17]. The low-
er the EDs between the surface points, the higher the trueness
In view of the differences between the impression scans and of the working process. The precision of a working process
the cast scans, the following significant differences could be can be interpreted as the reproducibility and can be deter-
found within the same impression material and scanning sys- mined by the scatter range of all the measured values. In con-
tem: For the D810 scanner, no significant differences in view trast to previous study analyses, the positive and negative
of the precision were found between the scanning objects. For deviations to the reference were examined, in particular, for
the ZZ scanner and the PVS-D impression material, the the determination of trueness and precision. This procedure
digitalisation of the IMP resulted within the positive and neg- was used against the background that trueness and precision
ative deviations in a significantly higher precision than the are dependent of each other.
digitalisation of the CAST. In view of the scanning objects, significant differences could
Regarding the impression material, the following signifi- be found dependent on the impression material as well as the
cant differences could be found within the same scanning desktop scanner. For the D810 scanner and the use of polyvinyl
object and scanning system: For the D810-IMP, no differences siloxane materials differences in the negative value range could
were found between the impression materials. For the D810- be found with better trueness for scanning the cast with PVS-I
CAST, the impression material PVS-I showed a significantly and better trueness for scanning the impression with PVS-D. For
higher trueness than PVS-D within the negative deviations, the Zirkonzahn scanner and the use of PE and PVS-I differences
while within the positive deviations, PE showed a significant- in the positive value range could be found with better trueness for
ly higher trueness than PVS-D. For the ZZ-IMP, PE showed scanning the impression. This may lead to the assumption that
the highest precision within the positive deviations, while for low span restorations, with all abutment teeth reduced for a
PVS-D showed the lowest precision within the negative devi- full covered restoration, the Zirkonzahn scanner may lead in the
ations. For the ZZ-CAST, the impression material PVS-D positive value range to more accurate values for the digitalisation
showed the significantly lowest precision within the negative of the impression than for the digitalisation of the cast.
deviations, while no significant differences were found within In 2016, Matta et al. found that scanning the impression
the positive deviations. itself can show a better performance than scanning the cast in
In view of the scanning system, the following significant a laboratory setup with implants using an industrial non-contact
differences could be found: For the PVS-I impression material scanner [18]. Furthermore, in multiple study designs, Jeon et al.
within the negative and positive deviations, the digitalisation examined impression scanning used in scanning systems with
of the IMP scanning system, ZZ, resulted in a significantly different light colours and different abutment types; they
higher precision than D810, while for the digitalisation of the showed good results for repeatability in general, slightly better
CAST scanning system, D810 resulted in a significantly better results for scanners using blue light, and difficulties scanning a
precision than ZZ. For PE and PVS-D, no differences between premolar with a long and narrow shape [19–21].
the desktop scanners were found. In the context of the higher negative deviations for the
digitalisation of the impression for single groups, the applied
scan spray could be a possible cause of error. The negative
Discussion mould of the impression itself makes it especially difficult to
apply the scan spray with exact layer thicknesses for all im-
Considering the results, the null hypothesis of the study must pressions. Furthermore, manufacturers have designed new im-
be rejected because the scanning object (impression or cast) pression materials designed for scanning without prior powder
significantly influenced the accuracy of the resulting datasets application (for example, Flexitime Fast&Scan). Those mate-
in terms of trueness and precision. Furthermore, it was shown rials were not available to the user in the process of planning
that the impression material, as well as the desktop scanning and conducting this study. Therefore, impression materials
system, showed an influence on the trueness and precision of which may be digitised without using a scan spray should be
the datasets. investigated in a further study.
The analysing method used to measure the accuracy, ap- In view of the impression material, PE and PVS-I resulted
plying the parameters of trueness and precision, that was cho- in better trueness and precision for most groups than PVS-D.
sen in the presented study is in accordance with ISO 5725-1 However, all materials are within an acceptable range for clin-
[13]. Hereby, the trueness is defined as the closeness of agree- ical use with the analysed desktop scanners. The fact that for
ment between the experimental dataset and the reference most of the tested groups, no differences could be found be-
dataset; it was determined by measuring the ED between the tween PE and PVS-I stops a general recommendation for one
reference dataset and the test dataset. The analysing software particular material class. Furthermore, for clinical use, the ma-
(Geomagic Qualify) applies a ‘best fit alignment’ for the su- terial characteristics of PVS or polyether in terms of the hy-
perimposition of the experimental and the reference dataset, as drophilicity and reset time or the process of taking the
Clin Oral Invest

impression (mono-phase vs. double-mix technique) has to be types of prepared teeth where comparable results to this study
considered as well. Further analysis of the chemical wettabil- were achieved for canines, premolars, and molars separately
ity characteristics could reveal further statements about the [19, 22]. In order to achieve a reliable conclusion, clinical
stated hydrophilic features of PVS. parameters in view of the preparation geometry were set to
In view of the different scanning devices, D810 showed a be as equal as possible for every impression. Nevertheless,
significantly better performance with PVS-I and PVS-D than moisture and movement, like in real patients, were not simu-
the Zirkonzahn desktop scanner, while in combination with lated by this laboratory test design and are therefore a limita-
PE, the scanning devices performed similarly without any tion factor of the present study. The proteinaceous surfaces of
significant differences. When looking at the desktop scanners, the oral environment obtain a lower surface free energy than
though the hypothesis was rejected, the difference in the re- metal dies [2] and therefore a different wettability by the im-
sults amongst each of the scanners was not distinct. pression material.
Nevertheless, the question may arise why the 3Shape The design of the model may also be seen as a limitation of
D810 showed a better performance only in combination with the present study, as it does not contain a naturally shaped
PVS materials. If the basic red laser technique of the D810 is tooth in addition to both prepared abutment teeth. Thus, only
in general superior to the strip light technique of the parallel surfaces without undercuts have to be digitised with
Zirkonzahn, all the values for all the impression materials the desktop scanners. Undercuts are always a problem for the
would show more accurate results in combination with the optical digitalisation process, as there is often shadowing on
D810. So, a possible correlation between the colours may the surface despite the rotation of the model or the digitising
affect the results. PVS-I is a colour mixture of pink and yel- unit. Therefore, a further model has to be established with
low, whereas pink is a component present in all the other additional unprepared teeth, like most cases in routine clinical
materials. Hence, yellow is unique for the tested PVS-I in this practice.
study and might be reflected differently by the red laser of the
D810 than by the strip light of the Zirkonzahn. However, no
information about this fact was found in the actual literature. Conclusion
Therefore, this conjecture has to be discussed in further
analyses. In limitations of this study, the partially digital workflow by
Camardella et al. already proved that scans of full-arch the digitalisation of the impression without the additional in-
impressions with PVS in combination with the 3Shape R700 termediate step of pouring a gypsum cast seems to be a rea-
scanning device show high accuracy and reliability [17]. sonable approach to create a virtual model dataset of small
Shimizu et al. [12] used the 3Shape D810 in an in vitro study spans up to one quadrant for the subsequent CAD/CAM pro-
to digitise a reference model without the intermediate steps of cess. However, in view of this restricted indication, the im-
impression taking or gypsum cast manufacturing. So, only the pression material and the desktop scanner are more decisive
accuracy of the digitalisation process itself was investigated. for a high accuracy of virtual model datasets.
In contrast, the present approach focuses on the accuracy
achieved in the complete workflow of the data acquisition of Acknowledgements The authors thank the company 3M ESPE Dental
the partly digital workflow and of the indirect digitalisation. Products for providing the impression materials.
These results offer possibilities for the dental technician who
has to decide whether a physical model is necessary for the Compliance with ethical standards
manufacturing process; as for a monolithic work, a model is
Conflict of interest The authors declare that they have no conflict of
not absolutely necessary in opposite to ceramic fusions, the interest.
veneer technique or facings. Renouncing a physical model
could save precious time in the manufacturing process on Ethical approval This article does not contain any studies with human
the one hand and reduce material costs on the other hand. participants or animals performed by any of the authors.
Nevertheless, the digitalisation of the impression of a full arch
or the presence of natural tooth morphologies may have a Informed consent For this type of study, formal consent is not required.
negative influence on the accuracy of the virtual dataset. For
this morphological analysis setup, further studies are needed
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