Table 3 Mean and SD of angular rotation values for the planned (T1–T0), the achieved (T2–T0), the imprecision (T2–T1l) and the accuracy (%) considering the individual dental groups, the individual jaws (maxilla and mandible) and the total

85

 − 5.58

12.99

 − 4.61

10.46

 < 0.001*

2.19

1.99

80.13

8.19

 < 0.001*

46

 − 4.07

17.62

 − 3.04

14.14

 < 0.001*

2.93

2.39

78.21

6.89

 < 0.001*

83

0.46

15.84

0.43

12.33

 < 0.001*

2.81

2.37

77.49

6.08

 < 0.001*

84

4.28

17.48

3.57

14.22

 < 0.001*

2.55

1.83

78.05

5.67

 < 0.001*

81

 − 5.84

10.54

 − 4.65

8.46

 < 0.001*

2.12

1.36

78.64

5.76

 < 0.001*

43

 − 16.01

13.21

 − 12.64

10.65

 < 0.001*

3.78

2.45

78.47

6.07

 < 0.001*

85

9.36

12.62

7.42

9.93

 < 0.001*

3.01

1.79

76.64

6.15

 < 0.001*

81

0.39

9.07

0.31

7.24

 < 0.001*

1.82

0.99

76.59

6.88

 < 0.001*

298

 − 0.88

16.29

 − 0.65

13.05

 < 0.001*

2.58

2.28

78.51

6.82

 < 0.001*

290

 − 1.15

14.05

 − 0.91

11.17

 < 0.001*

2.54

1.75

77.46

6.29

 < 0.001*

588

 − 1.01

15.21

 − 0.78

12.15

 < 0.001*

2.56

2.04

77.99

6.58

 < 0.001*