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

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。

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.