关键词: 自主式口腔种植机器人, 穿牙槽嵴上颌窦底提升, 骨挤压, 机器视觉, 力伺服控制系统

Abstract: A patient who underwent extraction of the upper left first molar due to crown-root fracture three months ago requested implant restoration. CBCT examination revealed insufficient residual alveolar bone height and low bone density at the edentulous site. In this case, an autonomous dental implant robot, combined with an bone condensing drilling kit, based on machine vision and a force servo control system, was used to simultaneously perform bone condensing, transalveolar maxillary sinus floor elevation, and implant placement under the precise guidance of the robotic arm. During surgery, there was no perforation of the maxillary sinus membrane, and the implant initial stability was excellent, with errors at the platform and apex less than 1mm and angular error less than 2°. There were no complications such as postoperative maxillary sinus infection. A follow-up CBCT examination six months after the operation showed good osseointegration of the implant, with a height increase of the maxillary sinus ranging from 3 to 5 mm, a volume increase of 291.47 mm³, and an IST value of 77. The second stage, including gingivoplasty, implant restorative impression, and final upper prosthetic restoration, was completed following standard procedures. This case presents a digital guidance method for implant surgery using an autonomous dental implant robot for sinus floor elevation, Bone condensing, and implant placement in cases of posterior maxillary tooth loss with low bone density and insufficient vertical bone volume.

Key words: Autonomous dental implant robot, Transalveolar technique for sinus floor elevation, Bone condensing, Machine vision, Force servo control system