机器人自动控制超短脉冲激光制备口腔种植窝洞的参数研究  

Preliminary study on the automatic preparation of dental implant socket controlled by micro-robot

作　　者：原福松[1] 郑剑桥 张耀鹏 王勇[1] 孙玉春[1] 吕培军[1] Yuan Fusong;Zheng Jianqiao;Zhang Yaopeng;Wang Yong;Sun Yuchun;Lyu Peijun(Center of Digital Dentistry,Faculty of Prosthodontics,Peking University School and Hospital of Stomatology ＆ National Clinical Research Center for Oral Diseases ＆ National Engineering Laboratory for Digital and Material Technology of Stomatology ＆ Research Center of Engineering and Technology for Digital Dentistry of Ministry of Health ＆ Beiling Key Laboratory of Digital Stomatology Beijing 100081,China)

机构地区：[1]北京大学口腔医学院·口腔医院口腔医学数字化研究中心口腔修复教研室国家口腔疾病临床医学研究中心口腔数字化医疗技术和材料国家工程实验室卫生部口腔医学计算机应用工程技术研究中心口腔数字医学北京市重点实验室,100081

出　　处：《中华口腔医学杂志》2018年第8期524-528,共5页Chinese Journal of Stomatology

基　　金：国家自然科学基金（81571023）

摘　　要：目的分析超短脉冲激光切削骨皮质时激光脉冲层数与步进量的定量关系，优化机器人的垂直向单次步进参数，探讨机器人自动控制超短脉冲激光制备口腔种植窝洞的可行性，为进一步实现自动化口腔种植手术奠定基础。方法选取猪肋骨8条，制成16块肋骨段。应用本课题组自主研发的机器人手术系统和路径规划软件，在肋骨段上二维切削直径为4mm的圆形窝洞，获得激光脉冲层数（n）与二维切削深度（d）的定量关系。三维切削时设定脉冲层数分别是5、10、15、20、25、30、35、40、45、50，垂直向单次步进量分别为对应二维切削深度结果的整数值，获得理论切削深度与实际切削深度差值最小时对应的脉冲层数（n’）。以n’为最适宜的单次步进脉冲层数，切削肋骨段．测量单次切削深度，取整数值作为最适宜的垂直向单次步进量（d’）。设定激光的垂直向单次步进参数为r’层脉冲和d’gm步进量，三维切削制备直径4mm、高度2mm的圆柱形窝洞，评价三维切削精度（切削直径或深度的实测值与理论值的差值）；同法在5只日本大耳白兔双侧股骨上自动化制备4mm×3mm的种植窝洞，人工植入10枚三维打印的4mm×3mm种植体，评价种植窝洞制备效果。结果激光脉冲层数（n）与二维切削深度（d）的定量关系曲线呈线性上升趋势，线性拟合得到定量关系函数式为d=9．2784n±26．7630，R^2=0．9889。最适宜的单次步进脉冲层数为5，最适宜的垂直向单次步进量为50μm，以此设定三维切削的垂直向单次步进参数，三维切削的直径精度为（3．98±2．87）Ixm，深度精度为（15．42±5．44）μm；在兔股骨上完成10个种植窝洞的自动化制备，将种植体植入自动化制备的种植窝洞时有一定的阻力，但能完全就位，就位后无松动现象。结论基于机器人自动控制超短脉冲激光的非接触�Objective To analyze the quantitative relationship between the number of layers of laser pulses and the amount of step in ultra-short pulse laser cutting of cortical bone, optimize the robot＇s vertical single stepping parameters, and to explore the feasibility of automatic preparation of dental implant cavity using robot controlling uhra-short pulse laser, in order to lay the foundation for automated dental implant surgery. Methods Eight pig ribs were segmented into to make 16 specimens. Using the robotic surgical system and path planning software independently developed by our group, circular holes with a diameter of 4 mm were cut two-dimensionally in the rib segments to obtain the quantification relationship of the number of laser pulse layers （n） and the depth of two-dimensional （2D） cutting （d）. When conducting the three-dimensional （3D） cutting procedure, the number of pulse layers were set to 5, 10, 15, 20, 25, 30, 35, 40, 45, 50 layers, the vertical single step amount was an integer value corresponding to the results of 2D cutting depth, and the number of pulses （n＇） corresponding to the minimum difference between the theoretical depth of cut and the actual depth of cut was obtained. The n＇ was taken as the most suitable single step pulse layer, the rib segment was cut, and the depth of single cut was measured while the integer value was taken as the most appropriate vertical single step amount （d＇）. The vertical parameters of laser single stepping were set as n＇ layer pulse and d＇ μm step size. The 3D cutting produces a cylindrical cavity with a diameter of 4 mm and a height of 2 mm to evaluate the 3D cutting accuracy （the difference between the measured value and the theoretical value of cutting diameter or depth）. Ten 4 mm×3 mm implant holes were automatically prepared on the bilateral femurs of 5 Japanese big white rabbits, and ten 4 mm×3 mm implants made by 3D printer were artificially implanted, and the preparation effect of the implant cavities was evaluate

关 键 词：机器人 激光 牙种植 自动化 

分 类 号：R783[医药卫生—口腔医学] TP242[医药卫生—临床医学]