Tang Gang, Liu Shibo, Sun Meng, Wang Yide, Zhu Weidong, Wang Dongmei, Li Xiang, Wu Hao, Men Shaoyang, Zhang Liangbin, Feng Changfen, Wang Yingfu, Ding Yuehua
Logistics Engineering College, Shanghai Maritime University, St. Haigang, Shanghai, 201306, Shanghai, China.
Electronic Information Engineering College, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, Jiangsu, China.
BDJ Open. 2024 Jun 3;10(1):43. doi: 10.1038/s41405-024-00231-6.
Dental implantation has emerged as an efficient substitute for missing teeth, which is essential for restoring oral function and aesthetics. Compared to traditional denture repair approaches, dental implants offer better stability and sustainability. The position, angle, and depth of dental implants are crucial factors for their long-term success and necessitate high-precision operation and technical support.
We propose an integrated dual-arm high-precision oral implant surgery navigation positioning system and a corresponding control strategy. Compared with traditional implant robots, the integrated dual-arm design greatly shortens the preparation time before surgery and simplifies the operation process. We propose a novel control flow and module for the proposed structure, including an Occluded Target Tracking Module (OTTM) for occlusion tracking, a Planting Plan Development Module (PPDM) for generating implant plans, and a Path Formulation Module (PFM) for controlling the movement path of the two robot arms.
Under the coordinated control of the aforementioned modules, the robot achieved excellent accuracy in clinical trials. The average angular error and entry point error for five patients who underwent implant surgery using the proposed robot were 2.1° and 0.39 mm, respectively.
In essence, our study introduces an integrated dual-arm high-precision navigation system for oral implant surgery, resolving issues like lengthy preoperative preparation and static surgical planning. Clinical results confirm its efficacy, emphasizing its accuracy and precision in guiding oral implant procedures.
牙种植已成为缺失牙的一种有效替代方法，对于恢复口腔功能和美观至关重要。与传统假牙修复方法相比，牙种植体具有更好的稳定性和持久性。牙种植体的位置、角度和深度是其长期成功的关键因素，需要高精度的操作和技术支持。
我们提出了一种集成双臂高精度口腔种植手术导航定位系统及相应的控制策略。与传统种植机器人相比，集成双臂设计大大缩短了手术前的准备时间并简化了操作流程。我们为所提出的结构提出了一种新颖的控制流程和模块，包括用于咬合跟踪的咬合目标跟踪模块（OTTM）、用于生成种植计划的种植计划制定模块（PPDM）以及用于控制两个机器人手臂运动路径的路径制定模块（PFM）。
在上述模块的协同控制下，该机器人在临床试验中取得了优异的精度。使用所提出的机器人进行种植手术的五名患者的平均角度误差和入口点误差分别为2.1°和0.39毫米。
本质上，我们的研究引入了一种用于口腔种植手术的集成双臂高精度导航系统，解决了术前准备时间长和静态手术规划等问题。临床结果证实了其有效性，强调了其在指导口腔种植手术过程中的准确性和精确性。
