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Journal of Dentistry
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A R T I C L E I N F O A B S T R A C T
Keywords: Objectives: The objective was to examine the effect of giving Artificial Intelligence (AI)-based radiographic in
Artificial intelligence formation versus standard radiographic and clinical information to dental students on their pulp exposure
Endodontics prediction ability.
Pulpitis
Methods: 292 preoperative bitewing radiographs from patients previously treated were used. A multi-path neural
Machine learning
Dental caries
network was implemented. The first path was a convolutional neural network (CNN) based on ResNet-50 ar
chitecture. The second path was a neural network trained on the distance between the pulp and lesion extracted
from X-ray segmentations. Both paths merged and were followed by fully connected layers that predicted the
probability of pulp exposure. A trial concerning the prediction of pulp exposure based on radiographic input and
information on age and pain was conducted, involving 25 dental students. The data displayed was divided into 4
groups (G): GX-ray, GX-ray+clinical data, GX-ray+AI, GX-ray+clinical data+AI.
Results: The results showed that AI surpassed the performance of students in all groups with an F1-score of 0.71
(P < 0.001). The students’ F1-score in GX-ray+AI and GX-ray+clinical data+AI with model prediction (0.61 and 0.61
respectively) was slightly higher than the F1-score in GX-ray and GX-ray+clinical data (0.58 and 0.59 respectively)
with a borderline statistical significance of P = 0.054.
Conclusions: Although the AI model had much better performance than all groups, the participants when given AI
prediction, benefited only ‘slightly’. AI technology seems promising, but more explainable AI predictions along
with a ’learning curve’ are warranted.
1. Introduction attempt to avoid pulp exposure. The risk of bacterial pulp penetration is
low for deep lesions, while the presence of bacteria in the pulp is
When intervening for deep caries without severe symptoms, pulp apparent in the extremely deep lesions requiring pulp invasive treat
vitality preservation is crucial for successful and cost-effective treatment ments [3]. Recently deep caries scenarios have further been subdivided
[1]. In 2019, the European Society of Endodontology (ESE) guideline into three categories [4]: (a) equal to the inner 1/3–1/4 of dentine
introduced a radiographic threshold as a predictor of pulp tissue thickness, (b) more than the inner ¼ but with a visible radiopaque
response based on which deep caries are differentiated from extremely dentine zone before the pulp, (c) while extremely deep lesions expand
deep caries [2]. There have been several treatment options to treat deep the entire thickness without any radiopaque zone separating the lesion
caries, including non-selective (previously addressed as complete exca from the pulp. The lack of clarity about the lesion depth can lead to
vation), selective carious removal and stepwise excavation, in an various challenges. The literature has indicated that a high proportion of
* Corresponding author.
E-mail address: Shaqayeq.ramezanzade@sund.ku.dk (S. Ramezanzade).
1
Both authors contributed equally.
https://doi.org/10.1016/j.jdent.2023.104732
Received 19 July 2023; Received in revised form 17 September 2023; Accepted 28 September 2023
Available online 29 September 2023
0300-5712/© 2023 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).
S. Ramezanzade et al. Journal of Dentistry 138 (2023) 104732
dentists utilize unnecessarily invasive interventions for deep carious were previously treated in several dental centers. Data collected from
lesions in permanent teeth instead of less invasive treatments and such patients included pretreatment radiographs, age, preoperative pain
decision-making for deep lesions relies on dentists’ comprehension of level, and the type of allocated treatment (stepwise excavation or non-
the scientific rationale underlying different excavation strategies [5]. selective excavation) along with the outcome of treatment (pulp expo
Focus is raised on a more precise preoperative radiographic assess sure/no pulp exposure). After segmentation, labeling and preprocessing
ment of penetration depth, along with clinical data, in choosing the of data, an AI model was applied that was able to predict pulp exposure.
proper treatment modality for the removal of carious tissue [1]. Pre Then, a website was designed on which pretreatment radiographs were
operative radiographs are known to contain valuable visual information uploaded. Each case was randomly presented in 4 different groups (G).
needed for advanced caries decision-making, including the lesion depth GX-ray presented radiographs of the carious teeth while the clinical data
and the presence or absence of a radiopaque zone separating the lesion and AI prediction were hidden from the dental students. GX-ray+clinical
from the pulp [2]. Some factors might affect the accuracy of radio data showed radiograph and clinical data covering age and pretreatment
graphic assessments and impair accurate visual assessment by dentists, pain while AI prediction was hidden from the participant. GX-ray+AI
including technical issues with optimal angulation, making the clinical presented radiographs and AI prediction while clinical data (age and
reality of carious lesions different from the radiographic view. Also, the pain) were hidden from the participants. GX-ray+clinical data+AI presented
experience and expertise of the dentist affect the accuracy of visual in radiograph and clinical data (age and pain) and AI prediction. 4th- and
spection of carious lesion depth in radiographs [6,7]. 5th-year dental students were granted website access to analyze data
Therefore, computerized technological advancements like computer- and make predictions about the occurrence of pulp exposure for each
assisted diagnosis (CAD) systems are needed to improve the diagnostic case, utilizing a randomly selected data group from the available four
capability of dentists and extract more radiographic information than groups. The performance was compared in cases with and without AI-
the naked eye of experts can detect [8]. model predictions.
Recently, AI has revolutionized CAD systems [9]. Deep learning
models for radiographic diagnosis have achieved performance compa 2.3. Dataset
rable to that of dentists and in some instances, have surpassed their
abilities [10–13]. Zheng et al. [12] assessed 844 X-rays of cases with This study used a dataset from a previously published randomized
extensive caries to design a CNN model. The model demonstrated clinical trial [18] on treating deep carious lesions with well-defined deep
greater accuracy than the dentists with 5–10 years of clinical experience carious lesions. The selected teeth were randomly allocated to either
(0.82 vs 0.79). A randomized crossover controlled trial was conducted to stepwise excavation (n = 143) or non-selective excavation (n = 149).
assess the impact of an AI-based diagnostic-support software for prox The data collection was multicenter-based including two centers at
imal caries detection using young dentists as participants [14]. AI Denmark and four centers at Sweden. The radiographic data were
increased the participants’ diagnostic accuracy but at the cost of generated using the analog radiographic technique. The selection
increasing the invasiveness of the treatment. A few studies have devel criteria included individuals who reported no pain or had mild to
oped a neural network model to predict pulp exposure and compared its moderate preoperative pain (cases with prolonged unbearable pain
performance with dentists [12,15,16]. However, the current literature and/or pain disturbing night sleep; no response to cold and electrical
lacks research on the benefits and drawbacks of an AI-dentist collabo pulp testing; attachment loss > 5 mm were excluded).
ration for predicting the occurrence of pulp exposure when performing The age of patients was 33 years ± 11 years (mean ± standard de
deep caries excavation. The challenges of clinical applicability and viation (SD)). 189 out of 292 cases reported no pain before excavation
adoption in practice have remained unaddressed and further research is treatment while 103 cases reported mild to moderate pre-treatment
warranted. pain. The distribution of cases with pulp exposure and no pulp expo
The aims of this paper were to: (1) Develop and employ a stan sure was skewed, with a higher proportion of treatments resulting in a
dardized automatic solution for predicting pulp exposure after excava ‘no pulp exposure’ outcome (224/292) compared to those with pulp
tion in cases with extensive caries undergoing stepwise or non-selective exposure (68/292). Out of the 68 teeth with pulp exposure, non-
excavation. (2) Investigate the effect of providing AI-based radiographic selective excavation was administered in 43 instances. Only 11 of 292
information versus standard radiographic information to dental students cases had occlusal caries while the majority of teeth had caries affecting
and assess how this would affect their predictions of pulp exposure both the occlusal and the proximal surface(s) of the tooth. The frequency
following the removal of carious tissue. The null hypothesis was that the of tooth type is displayed in the appendix (Table S2). The majority of
model performance is similar to dental students and there is no differ teeth were premolars and molars and the rate of pulp exposure were
ence in the diagnostic performance of dental students with and without 26.05% and 22.2% respectively.
AI-based information for prediction of pulp exposure in advanced caries.
2.4. AI framework development
2. Methods
The original radiographs were downscaled by a factor of two and
2.1. Protocol registration and ethical considerations subsequently zero-padded to achieve a uniform bounding box size of
958 × 873 pixels (height x width). Following this, the pixel intensity
This research follows the Checklist for AI in Dental Research values were normalized to the 0–1 range.The radiographs were manu
(Table S1) [17]. This project has received ethical approval from the ally segmented and labeled using the Seg3D software by one dentist (>3
related university (504–0342/22–5000), and the study complies with years of clinical experience) and supervised by two experienced clini
data protection rules (514–0847/23–3000). The university ethics com cians (<25 years of experience) as a prerequisite for AI framework
mittee (03–004/03) ethically approved the Data collection for the development.
dataset [18]. During training, the dataset underwent diverse data augmentation
techniques to improve the model’s resilience. These techniques included
2.2. Summary of the trial random horizontal flipping for orientation variations, random affine
transformations for translation and scaling within specific ranges, and
In this study, we developed and employed a standardized automatic random perspective changes to simulate different viewing conditions.
solution for predicting pulp exposure after excavation in teeth with To generate AI predictions across our entire dataset, we implemented
extensive caries randomly undergoing stepwise or non-selective exca a stratified 10-fold cross-validation method aligned with the outcome of
vation. The patients with deep caries eligible for excavation treatment pulp exposure. The training data within each fold was split further,
2
S. Ramezanzade et al. Journal of Dentistry 138 (2023) 104732
reserving 10 % of the data for validation purposes. In each fold, the test appendix (Fig. S1–3). The Performance of the model was evaluated by
data was strictly used for inference. All data for a given patient was comparing it with two senior dentists before running the trial with the
included in the same split. dental students. The model demonstrated higher performance to the
The model was trained utilizing the RMSprop optimization algo senior dentists, achieving an F1-score of 0.71 compared to the senior
rithm, configured with an initial learning rate of 10^− 4 and a weight dentists’ F1-score of 0.59.
decay parameter of 10^− 8. We employed a learning rate scheduler to
improve training efficiency. This scheduler reduces the learning rate 2.6. Participants
when the model’s performance plateaus, with a waiting period of 10
epochs before implementing a reduction. Model selection was per 4th- and 5th-year dental students were invited to participate. The
formed based on the validation set performance, with the best- students had taken mandatory courses on deep caries pathology and its
performing model chosen within a training span of 50 epochs. The clinical management. Each student received information for participa
reference test was the ground truth reflecting the actual outcome of the tion in the trial both written and verbally and signed the consent letter.
treatment. The final outcomes were classified as ‘pulp exposure’ and ‘no The participants were given a 10 min. oral presentation on different
pulp exposure’ [18]. The model was trained on a machine featuring a parts of the website, the accuracy of AI model prediction and techni
single Titan X GPU and 4 CPU cores, each accompanied by 1GB of cally, how to use the platform when their prediction was decided (pulp
memory. The AI framework represents a multi-path neural network, exposure/ no pulp exposure). The trial was carried out while at least one
where the first path analyzes the dental radiograph, while the second author was available for any technical questions (Sh. R, T.D). The test
path analyses numerical clinical features. The first path was a CNN was conducted in small groups of 3–5 students. In addition, the students
based on ResNet-50 architecture. This network was pre-trained on the were trained to stop the timing for rest times during the trial.
ImageNet database and then fine-tuned using the dental images. The
second path was a neural network trained on the distance between the
pulp and lesion extracted from X-ray segmentations, treatment type, 2.7. Statistical considerations
pain and age of the patient. Both paths merged and were subsequently
followed by fully connected layers, which predicted the probability of Data analysis was conducted using Python. Due to the presence of a
pulp exposure after the treatment. The code is available as supplemen class imbalance in our dataset, as having more cases without the
tary material on GitHub https://github.com/tudordascalu/pulp-exposu occurrence of pulp exposure than cases with pulp exposure, the primary
re-classification. metric was F1-score. The accuracy, the area under the Receiver-
Operating Characteristics curve (ROCAUC), sensitivity, and specificity
were also calculated. The mean and standard deviation were calculated
2.5. Website design, data randomization and intervention for each evaluation metric. The paired t-test was performed to see the
difference between AI performance and dental students’ performance in
A secured website was made in which each participant could log in all groups and to compare dental students’ performance with and
using the assigned password. All the image datasets were uploaded with without AI guidance at a significance level of P < 0.05.
information about the type and location of the targeted tooth. The stu In addition, the paired-sample t-test was performed to compare the
dents were presented with all 4 groups using computerized randomi time required for determining the outcome (pulp exposure/no pulp
zation. The ‘radiograph’ cases were considered the control group in the exposure) in all 4 groups at a significance level of P < 0.05.
platform. Assessment of each radiograph was allowed once and the
response time of students to each case was recorded. Fig. 1 shows the 3. Results
website environment with an example of a GX-ray, clinical data+AI scenario.
In principle, the website environment for all groups is illustrated in the Twenty-five students agreed to participate in the trial. The metrics
Fig. 1. The website environment with an example of a GX-ray + clinical data + AI case including X-ray, clinical data and AI prediction.
3
S. Ramezanzade et al. Journal of Dentistry 138 (2023) 104732
for AI and dental students are presented in Table 1. The AI model metrics Table 2
were; an F1-score of 0.71, accuracy of 0.78, sensitivity of 0.62, and The participant’s performance based on their year of education, treatment type
specificity of 0.83, and AUC of 0.73. The AI model had better perfor of teeth and the center on which the patients were treated.
mance than students in all four groups of data (P < 0.001). Regarding Participants
the performance of students, the F1-scores in GX-ray+AI and GX-ray+clinical performance
Variable Subgroups Accuracy F1-
data+AI (0.61 and 0.61 respectively) were slightly higher than the F1-
score
score in GX-ray and GX-ray+clinical data (0.58 and 0.59 respectively) with
a borderline statistical significance of P = 0.054. Comparably, the ac Treatment type Stepwise excavation 0.69 0.55
non-selective 0.63 0.61
curacy for GX-ray+AI and GX-ray+clinical data+AI, (0.68 and 0.67 respec
excavation
tively), were higher than the accuracy in GX-ray and GX-ray+clinical data Year of students 5th-year 0.60 0.60
which were 0.65 and 0.66, respectively. 4th-year 0.58 0.58
In GX-ray+AI and GX-ray+clinical data+AI, the mean agreeableness be Centers performing the Center 6* 0.65 0.62
tween dental students’ answers and AI prediction was 0.76. In addition, treatments Other centers(1–5) 0.68 0.55
4
S. Ramezanzade et al. Journal of Dentistry 138 (2023) 104732
Fig. 2. Receiver-operating characteristics curve (ROCAUC). The black line illustrates the trajectory described by the AI model with respect to sensitivity and
specificity at different cut-off values. Each participants’ accuracy in predicting the pulp exposure (in all four groups) is represented by pink markers. The blue dot
depicts the model’s sensitivity and specificity values at the optimal detection cut-off. The cross illustrates the mean and 95% confidence interval of participants’
sensitivity and specificity.
Fig. 3. The changes in sensitivity and specificity of each participant with AI prediction in GX-ray+AI and GX-ray+clinical data+AI (orange) and without AI prediction in GX-
ray and GX-ray+clinical data (blue) for pulp exposure prediction (Note the difference in scaling of axes). (For interpretation of the references to color in this figure legend,
the reader is referred to the web version of this article).
invasive treatment criteria in order to avoid unnecessary pulpal expo dental students. This finding is consistent with Mertens et al. [14]
sure and to maintain the pulpal health and structural integrity of teeth showing most but not all dentists have higher performance with AI. In
with deep carious lesions [2]. general, it has been shown that dentists’ behavior and provision
Probably, the black-box nature (i.e., the opaque and unexplained regarding extensive carious lesions are affected by their experience and
events that occur within the system) of AI predictions led to some ’lack familiarity [22].
of trust’ among participants. In some radiological research, explainable Future models should identify patterns in user behavior and prefer
AI (XAI) provides some visualization but without providing detailed ence before guiding dentists in order to have the greatest gain from AI.
information about the underlying causes or implications of the findings Based on the ESE guideline of deep caries management, patient
[21]. In our case, XAI was limited in its ability to explain the logic signs/symptoms and clinical findings should be included as essential
behind pulp exposure prediction. references in the diagnosis process in combination with radiographic
Further assessments are needed to seek a solution for adding caries depth assessment [2]. However, there was no significant differ
explainability to the designed model. In addition, while the majority of ence in accuracy and F1-score of all groups with and without integrating
cases benefited from AI prediction being available, the presence of AI clinical data (age, presence/absence of mild to moderate pretreatment
prediction did not detectably affect their performance (Fig. 3) for a few pain). It was also shown that the last year dental students (5th-year)
5
S. Ramezanzade et al. Journal of Dentistry 138 (2023) 104732
performed slightly better than 4th-year students. This is understandable Declaration of Competing Interest
as the experience of the dentists affects their accuracy of visual inspec
tion of caries depth in radiographs [6]. The authors declare the following financial interests/personal re
In the current research dataset, teeth were excluded if the carious lationships which may be considered as potential competing interests:
lesion was an obvious exposed case, with the carious lesion reaching the This project has been selected for UCPH Data+ funding (Strategy
pulp. Thus, the class imbalance, with ’no pulp exposure’ cases out 2023 funds) at the University of Copenhagen, Denmark. Also, the cur
numbering ’pulp exposure’ cases, resulted from deliberate selection by rent research was funded by the Danish Endodontic Society. The authors
dentists who aimed to choose eligible cases for deep caries excavation had no other conflicting interests to declare.
therapy aiming to avoid pulp exposure in their treatments. Taken
together, we considered a careful assessment of F1-score, sensitivity, Acknowledgments
and specificity metrics, which are more informative than accuracy in
this scenario. Additionally, to ensure that the performance evaluation None.
didn’t favor cases with no pulp exposure as the majority class, we used
the macro average F1-score (equivalent to computing the average of the Supplementary materials
F1-score for each class).
A few studies have assessed the collaboration of dentists and AI Supplementary material associated with this article can be found, in
models in detecting radiographic features in dental radiographs [14,23]. the online version, at doi:10.1016/j.jdent.2023.104732.
The current study was the first to assess the collaboration of an AI model
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