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ENGLISH ABSTRACT
基于分段旋转运动的口腔种植机器人预备模块在前牙即刻种植中应用的精度研究
王妙贞
谢瑞
刘峰
韦金奇
褚祎
作者及单位信息
·
DOI： 10.3760/cma.j.cn112144-20250120-00027
Accuracy of segmented rotational motion-based osteotomy module for dental implant robot in anterior immediate implantation: an in vitro study
Wang Miaozhen
Xie Rui
Liu Feng
Wei Jinqi
Chu Yi
Authors Info & Affiliations
Wang Miaozhen
First Clinical Division, Peking University School and Hospital of Stomatology & National Center for Stomatology & National Clinical Research Center for Oral Diseases & National Engineering Research Center of Oral Biomaterials and Digital Medical Devices & Beijing Key Laboratory of Digital Stomatology, Beijing 100034, China
Xie Rui
Digital Center, School of Stomatology, The Fourth Military Medical University, State Key Laboratory of Oral & Maxillofacial Reconstruction and Regeneration, National Clinical Research Center for Oral Diseases, Shaanxi Key Laboratory of Stomatology, Xi′an 710032, China
Liu Feng
First Clinical Division, Peking University School and Hospital of Stomatology & National Center for Stomatology & National Clinical Research Center for Oral Diseases & National Engineering Research Center of Oral Biomaterials and Digital Medical Devices & Beijing Key Laboratory of Digital Stomatology, Beijing 100034, China
Wei Jinqi
First Clinical Division, Peking University School and Hospital of Stomatology & National Center for Stomatology & National Clinical Research Center for Oral Diseases & National Engineering Research Center of Oral Biomaterials and Digital Medical Devices & Beijing Key Laboratory of Digital Stomatology, Beijing 100034, China
Chu Yi
First Clinical Division, Peking University School and Hospital of Stomatology & National Center for Stomatology & National Clinical Research Center for Oral Diseases & National Engineering Research Center of Oral Biomaterials and Digital Medical Devices & Beijing Key Laboratory of Digital Stomatology, Beijing 100034, China
·
DOI： 10.3760/cma.j.cn112144-20250120-00027
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摘要

目的初步评价基于分段旋转运动的口腔种植机器人预备模块在前牙即刻种植中应用的精度，为临床提供参考。

方法将23个相同的商品化上颌牙列缺损树脂模型分为导板组（5个）、机器人常规预备组（9个）和机器人分段预备组（9个），应用各组相应手术方式对每个模型植入2枚种植体。将手术前后模型的口内扫描数据导入软件，评价种植体实际位置与规划位置的偏差。

结果机器人分段预备组种植体颈部总偏差为0.50（0.32）mm，根部总偏差为0.52（0.22）mm，角度总偏差为1.08°（0.49°），均显著小于导板组［颈部、根部总偏差分别为0.88（0.50）、1.44（0.50）mm，角度总偏差为2.86°（1.76°）］（均 P<0.05）；机器人分段预备组颈部和根部总偏差均显著小于机器人常规预备组［颈部、根部总偏差分别为0.69（0.12）和0.94（0.16）mm］（均 P<0.05），角度总偏差与机器人常规预备组［1.27°（0.56）°］差异无统计学意义（ P>0.05）。

结论基于分段旋转运动的口腔种植机器人预备模块在前牙即刻种植中的种植精度优于导板和机器人常规预备模块。

美学，牙科;机器人;牙种植;精度;机器人辅助手术;即刻种植
ABSTRACT

ObjectiveTo preliminarily evaluate the accuracy of a segmented rotational motion-based osteotomy module for autonomous dental implant robots in immediate implant placement in the anterior region through an in vitro model experiment, providing references for clinical practice.

MethodsTwenty-three identical commercial maxillary resin models with dentition defects for immediate implant placement were divided into three groups: a fully guided static computer-assisted implant surgery (sCAIS) group ( n=5), a robotic computer-assisted implant surgery (rCAIS) group based on conventional coronal-apical linear motion osteotomy (rCAIS-C, n=9) and a rCAIS group based on segmented rotational motion osteotomy (rCAIS-S, n=9). Two implants were placed in each model using the corresponding surgical protocols. Intraoral scan data of pre-and post-operative models were imported into software to evaluate deviations between the actual and planned implant positions.

ResultsIn the rCAIS-S group, the global deviations at the implant platform and apex were 0.50 (0.32) mm and 0.52 (0.22) mm, respectively, with an angular deviation of 1.08° (0.49°). These values were significantly smaller than those in the sCAIS group [platform: 0.88 (0.50) mm, apex: 1.44 (0.50) mm, angular deviation: 2.86° (1.76°), P<0.05]. rCAIS-S group also showed significantly smaller platform and apex deviations compared to rCAIS-C group [platform: 0.69 (0.12) mm, apex: 0.94 (0.16) mm, P<0.05], though angular deviations of rCAIS-S group did not differ significantly from rCAIS-C group [1.27° (0.56°), P>0.05].

ConclusionsWithin the limitation of this study, the segmented rotational motion-based osteotomy module for dental implant robots demonstrates superior accuracy in immediate implant placement in the anterior area compared to sCAIS and rCAIS based on conventional coronal-apical linear motion osteotomy.

Esthetics, dental;Robotics;Dental implantation;Accuracy;Robot-assisted surgery;Immediate implant
Chu Yi, Email: mocdef.aabnis8683002eert, Tel: 0086-10-53295057
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引用本文

王妙贞,谢瑞,刘峰,等. 基于分段旋转运动的口腔种植机器人预备模块在前牙即刻种植中应用的精度研究[J]. 中华口腔医学杂志,2025,60(04)：375-380.

DOI:10.3760/cma.j.cn112144-20250120-00027

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即刻种植是修复缺失前牙的常用手段。以修复为导向的种植体三维位置的精确植入是前牙即刻种植成功的关键 ［ 1 ］ 。随着口腔数字化技术的发展，导航和导板等计算机辅助下的种植手术与自由手相比，可显著提高即刻种植的精度，颈部和根部偏差为1.0~1.5 mm，角度偏差为2°~4° ［ 2 , 3 , 4 ］ ，但距离种植体的精准植入仍有差距。近年，口腔种植手术机器人的蓬勃发展进一步提高了种植精度。在愈合位点，种植体颈部偏差为0.27~1.23 mm，根部偏差为0.25~1.40 mm，角度偏差为0.99°~3.0°，均显著低于自由手、导板和导航技术 ［ 5 , 6 , 7 , 8 , 9 , 10 ］ 。即刻种植位点的腭侧骨质密度和阻力常高于唇侧，导致机器人常规预备时钻针沿设计的种植体长轴方向进行线性运动，可能偏向骨质密度小的唇侧，进而导致偏差 ［ 11 , 12 ］ ，使即刻位点的种植精度低于愈合位点 ［ 13 , 14 ］ 。为解决该问题，本课题组对机器人常规预备的线性运动模式进行改良，研发基于分段旋转运动的软件模块，以期在窝洞预备初期解除拔牙窝腭侧骨壁阻力，减少钻针唇向偏移。本项研究通过体外模型实验初步评估该模块在前牙即刻种植中应用的精度，为临床提供参考。
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备注信息
A
褚祎，Email： mocdef.aabnis8683002eert，电话：010-53295057
B

王妙贞：研究设计、研究实施、数据采集、文章撰写和修改；谢瑞：研究实施和文章修改；刘峰：研究实施和文章修改；韦金奇：研究设计和文章修改；褚祎：数据分析、文章撰写和修改

C
王妙贞, 谢瑞, 刘峰, 等. 基于分段旋转运动的口腔种植机器人预备模块在前牙即刻种植中应用的精度研究[J]. 中华口腔医学杂志, 2025, 60(4): 375-380. DOI: 10.3760/cma.j.cn112144-20250120-00027.
D
所有作者声明不存在利益冲突
E
国家自然科学基金 (81901037)
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