Tian Heqiang, Yin Yurui, Zhang Xiang, Tan Jiezhong, Liu Junqiang
College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China.
PLoS One. 2025 Apr 29;20(4):e0319054. doi: 10.1371/journal.pone.0319054. eCollection 2025.
Oral implant surgery demands a high level of precision and expertise, making the integration of robotic assistance an optimal solution. This study introduces an innovative dental implant robotic system designed to enhance accuracy during cavity preparation by combining robotic technology, optical spatial positioning, and personalized digital implant guides. The system employs an EC66 six-degree-of-freedom robotic arm, integrated with digital implant guides and optical navigation technology. A customized implant guide mapping device was developed, fabricated, and validated for its guiding accuracy through meticulous registration and measurement processes. The robotic system's coordinate systems were thoroughly analyzed, and hand-eye calibration, along with tool calibration, was implemented to ensure synchronized spatial transformations and complete spatial information registration.The robotic system demonstrated superior angular precision in cavity preparation, significantly reducing angular deviation compared to traditional manual methods (4.17 ± 0.28° vs. 5.23 ± 0.10°). However, no significant differences were found in top surface deviation (1.09 ± 0.37 mm vs. 1.43 ± 0.06 mm) or root surface deviation (1.49 ± 0.57 mm vs. 2.57 ± 0.10 mm) between the robotic and manual approaches. These results indicate that while the robotic system excels in angular control, surface deviations in the top and root regions remain comparable to those achieved through manual methods. The system effectively reduces human error, particularly in angular precision, ensuring greater directional control during the procedure. Despite these advancements, further improvements are needed in model and template printing precision, as well as optimization of calibration methods, to minimize residual errors and enhance overall accuracy.This study presents a novel and reproducible approach for assessing the accuracy of implant guides and robotic positioning systems. By showcasing the potential of robotic systems to improve surgical precision and outcomes in dental implantology, this research offers valuable insights for future clinical applications and technological advancements in the field.
口腔种植手术需要高度的精确性和专业技能，因此将机器人辅助技术整合进来是一个理想的解决方案。本研究介绍了一种创新的牙科种植机器人系统，该系统通过结合机器人技术、光学空间定位和个性化数字种植导板，旨在提高窝洞制备过程中的准确性。该系统采用了EC66六自由度机器人手臂，与数字种植导板和光学导航技术集成在一起。开发、制造了一种定制的种植导板映射装置，并通过细致的配准和测量过程对其引导精度进行了验证。对机器人系统的坐标系进行了全面分析，并实施了手眼校准以及工具校准，以确保同步的空间变换和完整的空间信息配准。该机器人系统在窝洞制备中表现出卓越的角度精度，与传统手动方法相比，显著降低了角度偏差（4.17±0.28°对5.23±0.10°）。然而，在机器人方法和手动方法之间，顶面偏差（1.09±0.37毫米对1.43±0.06毫米）或牙根面偏差（1.49±0.57毫米对2.57±0.10毫米）没有发现显著差异。这些结果表明，虽然机器人系统在角度控制方面表现出色，但顶部和根部区域的表面偏差仍与通过手动方法获得的偏差相当。该系统有效地减少了人为误差，特别是在角度精度方面，确保了手术过程中更好的方向控制。尽管取得了这些进展，但在模型和模板打印精度以及校准方法的优化方面仍需要进一步改进，以最小化残余误差并提高整体精度。本研究提出了一种新颖且可重复的方法来评估种植导板和机器人定位系统的准确性。通过展示机器人系统在提高牙科种植手术精度和结果方面的潜力，本研究为该领域未来的临床应用和技术进步提供了有价值的见解。
