口腔种植机器人在即刻种植中的精度研究

doi:10.12337/zgkqzzxzz.2023.06.007

中国口腔种植学杂志 ›› 2023, Vol. 28 ›› Issue (3): 165-171.DOI: 10.12337/zgkqzzxzz.2023.06.007

• 口腔种植机器人重点栏目 • 上一篇下一篇

口腔种植机器人在即刻种植中的精度研究

姜雨汐^1,3,5, 孙仕晨², 万林子¹, 刘文锋⁴, 杨志康⁵, 吴熙凤⁶, 孙海鹏², 李树春⁷, 高永波¹

¹深圳市龙岗中心医院口腔科 518116;
²深圳市口腔医院修复和种植医学中心 518022;
³深圳大学医学部口腔医学院 518061;
⁴深圳优雅口腔门诊部 518172;
⁵滨州医学院口腔医学院 264003;
⁶香港中文大学（深圳）附属第二医院口腔科 518172;
⁷北京大学深圳医院口腔医学中心 518036

收稿日期:2023-04-25 出版日期:2023-06-30 发布日期:2023-07-04
通讯作者: 高永波,Email：gaoyongbo2007@sina.com,电话：0755-28360587
作者简介:姜雨汐, 博士、博士后、主治医师、硕士生导师，研究方向：牙槽骨再生和数字化口腔种植; 高永波, 主任医师、教授、博士后合作导师、研究生导师，研究方向：数字化口腔种植外科
基金资助:
中国博士后科学基金（2020M682914）; 广东省基础与应用基础研究基金（2021A1515110211）; 深圳市科技计划资助（JCYJ20210324124200001）

Research on the accuracy of dental implant robot in immediate implantation

Jiang Yuxi^1,3,5, Sun Shichen², Wan Linzi¹, Liu Wenfeng⁴, Yang Zhikang⁵, Wu Xifeng⁶, Sun Haipeng², Li Shuchun⁷, Gao Yongbo¹

¹Department of Stomatology, Shenzhen Longgang Central Hospital, Shenzhen 518116, China;
²Department of Dental Implantology & Prosthodontics, Shenzhen Stomatology Hospital, Shenzhen 518022, China;
³School of Dentistry, Shenzhen University Medical School, Shenzhen University, Shenzhen 518061, China;
⁴Shenzhen Grace Dental Clinic, Shenzhen 518172, China;
⁵School of Stomatology, Binzhou Medical University, Yantai 264003, China;
⁶Department of Stomatology, Second Affiliated Hospital of the Chinese University of Hong Kong (Shenzhen), Shenzhen 518172, China;
⁷Stomatology Center of Peking University Shenzhen Hospital, Shenzhen 518036, China

Received:2023-04-25 Online:2023-06-30 Published:2023-07-04
Contact: Gao Yongbo, Email:gaoyongbo2007@sina.com, Tel: 0086-755-28360587
Supported by:
China Postdoctoral Science Foundation（2020M682914）; GuangDong Basic and Applied Basic Research Foundation （2021A1515110211）; Shenzhen Science and Technology Program （JCYJ20210324124200001）

摘要/Abstract

摘要： 目的探究口腔种植机器人在即刻种植手术中的种植精度是否与延期种植无差异。方法将符合种植修复治疗条件的患者分为即刻种植（n=4）和延期种植（n=6）两组,由同一组医护人员使用口腔种植机器人进行种植手术。术前常规拍摄CBCT、种植体位置设计、手术流程规划、机械臂注册和配准,由机器人完成种植窝洞预备和种植体植入,术后通过CBCT分析种植体植入误差。结果机器人种植手术完成顺利,术中及术后均未出现并发症。植入点误差（总误差、横向误差和深度误差）、根尖点误差（总误差和横向误差）无统计学差异。其中,根尖点深度误差在即刻种植组和延期种植组分别为（0.25±0.13）mm、（-0.88±0.49）mm,种植体植入角度误差在上述两组分别为1.38°±0.14°、0.59°±0.08°,种植体根尖点深度误差和种植体植入角度误差具有统计学差异（P<0.05）。结论口腔种植机器人在延期种植和即刻种植中均显示出良好的种植精度;口腔种植机器人即刻种植手术的角度误差大于延期种植。

关键词: 口腔种植机器人, 即刻种植, 延期种植, 精度, 误差分析

Abstract: Objective To investigate the accuracy error of dental implant robots in immediate and delayed implantation. Methods Implant patients who met the requirements of implant restoration treatment were divided into two groups: immediate implant (n=4) and delayed implant (n=6). Each group was implanted with a dental implant robot. Preoperative CBCT, implant position design, surgical procedure planning, robotic arm registration and alignment were routinely performed, and implant socket preparation and implant placement were performed by the robot. The implant placement error was analyzed by CBCT after surgery. Results The dental implant robot surgery was successfully completed, and there were no complications during and after the surgery. The deviation of the implant depth at the apical point was (0.25±0.13) mm in the immediate the implant group and (-0.88±0.49) mm in the delayed implant group, and the deviation of the implant angle was 1.38°±0.14° in the immediate implant group and 0.59°±0.08° in the delayed implant group. There was a statistical difference between the two groups (P<0.05). Conclusion The dental implant robot showed good accuracy in both immediate and delayed implantation. The accuracy of the implant point and the apical point of the dental implant robot during immediate implantation is close, and the angle deviation is greater than that of the delayed implant.

Key words: Dental implant robot, Immediate implantation, Delayed implantation, Accuracy, Error analysis

姜雨汐,孙仕晨,万林子,等. 口腔种植机器人在即刻种植中的精度研究[J]. 中国口腔种植学杂志, 2023, 28(3): 165-171. DOI: 10.12337/zgkqzzxzz.2023.06.007

Jiang Yuxi, Sun Shichen, Wan Linzi, Liu Wenfeng, Yang Zhikang, Wu Xifeng, Sun Haipeng, Li Shuchun, Gao Yongbo. Research on the accuracy of dental implant robot in immediate implantation[J].Chinese Journal of Oral Implantology, 2023, 28(3): 165-171.DOI: 10.12337/zgkqzzxzz.2023.06.007.

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口腔种植机器人在即刻种植中的精度研究

Research on the accuracy of dental implant robot in immediate implantation

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