种植手术机器人辅助完成种植手术精度的初步研究

Preliminary Research on the Accuracy of Implant Surgery Assisted by Implant Surgery Robots

目的:利用种植机器人进一步提高种植手术的精确性从而有效避开重要解剖结构,增加远期成功率。方法:使用种植手术机器人,分别在三维打印模型和猪下颌骨上植入市面常见种植体,通过锥形束CT扫描、配准,获得术前设计种植体植入位置与术后实际种植体植入位置偏差及角度偏差。结果:两种市面常见种植体在猪下颌骨上使用种植机器人辅助完成即刻种植的植入点总偏差(PCC:(0.610±0.143)mm,BL:(0.688±0.148)mm),根尖点总偏差(PCC:(0.664±0.121)mm,BL:(0.716±0.156)mm)及角度偏差(PCC:(0.980±0.456)˚,BL:(1.215±0.549)˚)无明显统计学差异(P>0.05),且均低于市面常见计算机导航种植系统;在3D打印模型上产生的位置及角度偏差低于在猪下颌骨上产生的偏差。结论:种植机器人辅助种植的精确性高,研究结果可作为后续临床试验及临床应用的参考。

Objective:Using an implant surgery robot to further improve the accuracy of implant surgery so as to effectively avoid important anatomical structures and increase the long-term success rate.Methods:Our study used implant surgery robots with commercial implants for the implant surgery on the 3D printed model and pig mandible.Through CBCT scanning and registration,the position and angle deviation between the preoperative design implant placement and the postoperative actual implant placement were obtained.Results:The results showed that no significant difference(P>0.05)of the two commercial implants were found on the coronal deviation(PCC:(0.610±0.143)mm,BL:(0.688±0.148)mm),the apical deviation(PCC:(0.664±0.121)mm,BL:(0.716±0.156)mm)and angle deviation(PCC:(0.980±0.456)˚,BL:(1.215±0.549)˚)of the implant surgery assisted by the implant surgery robot on the pig mandible.And they were lower than the other commercial computer navigation implant system.In the study,the position and angle deviations produced on the 3D printed model were lower than those produced on the pig mandible.Conclusion:This experiment proved the accuracy implant surgery assisted by implant surgery robots and layed the foundation for subsequent clinical trials and clinical applications.