机器人位置反馈和配准算法辅助下的牙种植手术精度：一项体外研究。

Accuracy of dental implant surgery with robotic position feedback and registration algorithm: An in-vitro study.

机构信息

College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China; Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310023, China.

出版信息

Comput Biol Med. 2021 Feb;129:104153. doi: 10.1016/j.compbiomed.2020.104153. Epub 2020 Nov 26.

DOI:10.1016/j.compbiomed.2020.104153

PMID:33260102

Abstract

BACKGROUND

The purpose of this study was to develop and validate a positioning method with hand-guiding and contact position feedback of robot based on a human-robot collaborative dental implant system (HRCDIS) for robotic guided dental implant surgery.

METHODS

An HRCDIS was developed based on a light-weight cooperative robot arm, UR5. A three-dimensional (3D) virtual partially edentulous mandibular bone was reconstructed using the cone bone computed tomography images. After designing the preoperative virtual implant planning using the computer software, a fixation guide worn on teeth for linking and fixing positioning marker was fabricated by 3D printing. The fixation guide with the positioning marker and a resin model mimicking the oral tissues were assembled on a head phantom. The planned implant positions were derived by the coordinate information of the positioning marker. The drilling process using the HRCDIS was conducted after mimicking the experimental set-up and planning the drilling trajectory. Deviations between actual and planned implant positions were measured and analyzed.

RESULTS

The head phantom experiments results showed that the error value of the central deviation at hex (refers to the center of the platform level of the implant) was 0.79 ± 0.17 mm, central deviation at the apex was 1.26 ± 0.27 mm, horizontal deviation at the hex was 0.61 ± 0.19 mm, horizontal deviation at the apex was 0.91 ± 0.55 mm, vertical deviation at the hex was 0.38 ± 0.17 mm, vertical deviation at the apex was 0.37 ± 0.20 mm, and angular deviation was 3.77 ± 1.57°.

CONCLUSIONS

The results from this study preliminarily validate the feasibility of the accurate navigation method of the HRCDIS.

摘要

背景

本研究旨在开发和验证一种基于人机协作牙科植入系统（HRCDIS）的手部引导和接触位置反馈机器人定位方法，用于机器人引导的牙科植入手术。

方法

基于轻量级协作机械臂 UR5 开发了 HRCDIS。使用锥形骨计算机断层扫描图像重建了三维（3D）虚拟部分无牙下颌骨。使用计算机软件设计术前虚拟植入物规划后，通过 3D 打印制造了用于链接和固定定位标记的戴在牙齿上的固定引导器。将带有定位标记的固定引导器和模拟口腔组织的树脂模型组装到头模型上。通过定位标记的坐标信息得出计划植入位置。模拟实验设置并规划钻孔轨迹后，使用 HRCDIS 进行钻孔过程。测量和分析实际与计划植入位置之间的偏差。

结果

头模型实验结果表明，中心偏差在六角（指种植体平台水平的中心）的误差值为 0.79±0.17mm，根尖中心偏差为 1.26±0.27mm，六角水平偏差为 0.61±0.19mm，根尖水平偏差为 0.91±0.55mm，六角垂直偏差为 0.38±0.17mm，根尖垂直偏差为 0.37±0.20mm，角度偏差为 3.77±1.57°。