Dept. of Oral and Maxillofacial Surgery, The First Medical Center, Chinese PLA General Hospital, Beijing 100853, China.
Chinese PLA Medical School, Beijing 100853, China.
Hua Xi Kou Qiang Yi Xue Za Zhi. 2024 Dec 1;42(6):804-809. doi: 10.7518/hxkq.2024.2024213.
This paper aims to investigate the application of intraoral scanning and cone beam computed tomography (CBCT) registration implant robot in dental implant surgery.
The data of 40 cases with dental defect of robot-assisted implantation from November 2023 to May 2024 were retrospectively analyzed. Before the operation, the intraoral scan data and CBCT data of the positioning markers were automatically fused with the initial CBCT images, and the registration error was calculated. The average registration error of positioning markers was determined during the operation, and the implantation accuracy was analyzed after the operation.
The intraoral scan data and CBCT data of 40 patients with dental defect wearing positioning markers were successfully registered with the initial CBCT image, and the registration errors were (0.157±0.026) mm and (0.154±0.033) mm, respectively. Statistical analysis showed no statistical significance between them. The registration errors of the marker was (0.037 3±0.003 6) mm. A total of 55 implants were performed, and the total deviations of the implant point and the apical point were (0.78±0.41) and (0.89±0.28) mm, respectively. The transverse deviations of the implant point and the apical point were (0.44±0.36) and (0.58±0.25) mm, respectively. The depth deviations of the implant point and the apical point were (0.51±0.32) and (0.54±0.36) mm, respectively. The deviation of the implant angle was 1.24°±0.67°.
The fusion technology based on intraoral scanning and CBCT registration can meet the accuracy requirements of preoperative registration of oral implant robots. The technology increases the choice of registration methods before robot-assisted dental implant surgery and reduces the multiple radiation exposuresof the patient.
本文旨在探讨口内扫描和锥形束计算机断层扫描 (CBCT) 配准种植机器人在牙种植手术中的应用。
回顾性分析 2023 年 11 月至 2024 年 5 月 40 例机器人辅助种植牙缺损患者的资料。手术前，自动融合定位标记的口内扫描数据和 CBCT 数据与初始 CBCT 图像，并计算配准误差。术中确定定位标记的平均配准误差，术后分析种植精度。
40 例牙缺损患者佩戴定位标记的口内扫描数据和 CBCT 数据与初始 CBCT 图像成功配准，配准误差分别为（0.157±0.026）mm 和（0.154±0.033）mm，差异无统计学意义。标记物的配准误差为（0.0373±0.0036）mm。共进行 55 个种植体植入，种植点和根尖点总偏差分别为（0.78±0.41）mm 和（0.89±0.28）mm，种植点和根尖点横偏分别为（0.44±0.36）mm 和（0.58±0.25）mm，种植点和根尖点深度偏差分别为（0.51±0.32）mm 和（0.54±0.36）mm，种植体角度偏差为 1.24°±0.67°。
基于口内扫描和 CBCT 配准的融合技术可以满足口腔种植机器人术前配准的精度要求。该技术增加了机器人辅助牙种植术前的配准方法选择，减少了患者的多次辐射暴露。
