新型图像引导混合机器人系统在牙种植体植入中的准确性：一项体外研究。
The accuracy of a novel image-guided hybrid robotic system for dental implant placement: An in vitro study.
机构信息
Department of Second Dental Center, Shanghai Ninth People's Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China.
College of Stomatology, Shanghai Jiao Tong University, Shanghai, China.
出版信息
Int J Med Robot. 2023 Feb;19(1):e2452. doi: 10.1002/rcs.2452. Epub 2022 Aug 22.
BACKGROUND
This in vitro study aims to evaluate the accuracy of dental implant placement by a novel image-guided hybrid robotic system for dental implant surgery (HRS-DIS).
METHODS
The HRS-DIS with a 5 degree of freedom (DOF) serial manipulator and a 6 DOF Stewart platform was developed. To evaluate the accuracy of repeated drilling, the holes were prepared twice with a 2.2 mm drill. To evaluate the accuracy of dental implant placement, the entry, exit and angle deviations of dental implants were measured.
RESULTS
Twenty-four holes were prepared twice, and mean (±SD) of diameters were measured as 2.2 ± 0.02 mm. A total of 160 dental implants were placed in 32 phantoms by HRS-DIS. The mean (±SD) of the entry, exit and angle deviation were 0.8 ± 0.54 mm, 0.87 ± 0.54 mm and 1.0 1 ± 0.44°, respectively.
CONCLUSIONS
The results of the in vitro study preliminarily validated that the HRS-DIS could provide a high accuracy for dental implant surgery.
背景
本体外研究旨在评估新型影像导引混合式机器人系统（HRS-DIS）辅助牙种植手术的牙种植体定位精度。
方法
开发了具有 5 自由度（DOF）串联机械手和 6 DOF Stewart 平台的 HRS-DIS。为了评估重复钻孔的精度，使用 2.2mm 的钻头进行了两次钻孔。为了评估牙种植体定位精度，测量了牙种植体的入口、出口和角度偏差。
结果
24 个孔重复钻取了两次，平均（±SD）直径测量值为 2.2 ± 0.02mm。使用 HRS-DIS 在 32 个模型中植入了 160 颗牙种植体。入口、出口和角度偏差的平均值（±SD）分别为 0.8 ± 0.54mm、0.87 ± 0.54mm 和 1.01 ± 0.44°。
结论
体外研究的结果初步验证了 HRS-DIS 可为牙种植手术提供高精度。
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