口腔手术机器人辅助显微根尖手术精度的初步研究

A preliminary research on the accuracy of oral Surgery Robot-assisted endodontic microsurgery

目的:评价口腔手术机器人辅助显微根尖手术的准确性,同时验证口内扫描在术后准确性测量中应用的可行性。方法:使用口腔手术机器人在猪下颌骨上模拟显微根尖手术的骨开窗、根尖切除操作,术前进行锥形束CT(CBCT)扫描、手术路径规划,术后使用两种测量方法对手术路径三维偏差进行精度分析。结果:使用两种方法测量根尖手术术后的三维偏差。CBCT测量起点偏差0.64±0.04 mm;终点偏差0.72±0.05mm;角度偏差1.07±0.14°,口内扫描测量起点偏差0.65±0.04 mm;终点偏差0.72±0.03 mm;角度偏差1.00±0.11°,两种测量方法的起点偏差、终点偏差、角度偏差之间差异无统计学意义(P>0.05)。结论:口腔手术机器人能有效实现根尖手术的可视化、微创化,实现精准根尖切除。口内扫描可用于测量机器人辅助显微根尖手术的准确性,并且不涉及患者额外的辐射暴露。

AIM:To assess the precision of robot-assisted Endodontic microsurgery in oral surgery,and to val⁃idate the practicality of intraoral scanning in postoperative accuracy measurement.METHODS:An oral surgical robot was utilized to simulate osteotomy and apicoectomy operations on the porcine mandible.Prior to surgery,CBCT scanning and surgical path planning were conducted,and the accuracy of the three-dimensional deviation of the surgical path was analyzed using two measurement methods after the surgery.RESULTS:Two methods were employed to measure the 3D deviation following Endodontic microsurgery.The CBCT measurement showed an entry point deviation of 0.64±0.04 mm and an end point deviation of 0.72±0.05 mm,with an angular deviation of 1.07±0.14°.On the other hand,the intraoral scan measurement indicated an entry point deviation of 0.65±0.04 mm and an end point deviation of 0.72±0.03 mm,with an an⁃gular deviation of 1.00±0.11°.There was no significant difference in the entry point deviation,end point deviation,and an⁃gular deviation between the two measurement methods(P>0.05).CONCLUSION:The oral surgery robot has demon⁃strated effective visualization,minimization,and precision in performing Endodontic microsurgery.Intraoral scanning can be utilized to assess the accuracy of robot-assisted Endodontic microsurgery without subjecting the patient to additional ra⁃diation exposure.