口腔种植机器人在不同视觉系统下的手术精度研究

doi:10.12337/zgkqzzxzz.2023.06.005

摘要/Abstract

摘要： 目的评价不同视觉系统对口腔种植机器人手术精度的影响,为临床应用提供参考。方法分别将可见光视觉引导与红外光视觉引导集成在种植机器人实验平台中;规划种植体位置及种植路径后,机器人自主在模块化牙列缺损种植模型上进行种植窝洞预备,每种视觉引导下各预备20个窝洞;预备完后CBCT扫描种植模型,重建窝洞三维形态并与规划种植体位置进行比较,得到肩部偏差、根部偏差与角度偏差;采用独立样本t检验分析两种视觉对口腔种植机器人手术精度的影响。结果红外光导航系统引导下窝洞预备的肩部偏差、根部偏差、角度偏差的均值和标准差为：（0.39±0.14）mm、（0.60±0.19）mm、2.03°±0.84°;可见光导航系统引导下窝洞预备的肩部偏差、根部偏差、角度偏差的均值和标准差为：（0.57±0.21）mm、（0.89±0.30）mm、3.08°±1.13°。独立样本t检验结果显示两种不同原理导航系统引导下的窝洞预备精度存在差异（P<0.05）。结论体外模型实验结果表明,本研究所使用的可见光系统引导下的口腔种植机器人手术精度偏差大于所使用的红外光引导。

关键词: 口腔种植, 手术机器人, 精度, 模型实验

Abstract: Objective To evaluate the effect of different optical tracking systems on the surgical accuracy of the dental implant robot for clinical application. Methods Visible light guidance and infrared light guidance were integrated into the experimental platform of the implant robot. After planning the implant position and path, the robot prepared the implant beds on the modular dentition defect implant models autonomously. 20 implant beds were prepared under each guidance. After the preparation, CBCT scanned the implant models, reconstructed the three-dimensional shape of the implant beds and compared them with the planned implant position to obtain the shoulder deviation, root deviation and angle deviation. An independent sample t-test was performed to analyze the effect of the two optical tracking systems on the accuracy of the dental implant robot. Results The mean and standard deviation of shoulder deviation, root deviation and angle deviation of the preparation guided by infrared light guidance were （0.39±0.14）mm,（0.60±0.19）mm and（2.03±0.84）degrees. The mean and standard deviation of shoulder deviation, root deviation and angle deviation of the preparation guided by visible light guidance were （0.57±0.21） mm,（0.89±0.30）mm and（3.08±1.13）degrees. The results of the independent sample t-test showed that there was a significant difference in the accuracy of implant bed preparation guided by two different principles of optical tracking systems (P<0.05). Conclusion The results of the in vitro model experiments showed that the deviation of the surgical accuracy of the dental implant robot guided by visible light is greater than that guided by infrared light.

Key words: Oral implant, Surgical robot, Accuracy, Model experiment

谢瑞,李志文,任楠,等. 口腔种植机器人在不同视觉系统下的手术精度研究[J]. 中国口腔种植学杂志, 2023, 28(3): 152-158. DOI: 10.12337/zgkqzzxzz.2023.06.005

Xie Rui, Li Zhiwen, Ren Nan, Zhao Ruifeng, Bai Shizhu. Study on the surgical accuracy of dental implant robot with different optical tracking systems[J].Chinese Journal of Oral Implantology, 2023, 28(3): 152-158.DOI: 10.12337/zgkqzzxzz.2023.06.005.

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