自主式口腔种植机器人手术系统动物体内种植精度的研究  

Animal experiment on the accuracy of the Autonomous Dental Implant Robotic System

作　　者：白石柱[1] 任楠 冯志宏[2] 谢瑞[1] 董岩[2] 李志文 赵铱民[1] Bai Shizhu;Ren Nan;Feng Zhihong;Xie Rui;Dong Yan;Li Zhiwen;Zhao Yimin(Digital Dentistry Center,School of Stomatology,The Fourth Military Medical University&State Key Laboratory of Military Stomatology&National Clinical Research Center for Oral Diseases&Shaanxi Clinical Research Center for Oral Diseases,Xi′an 710032,China;Department of Prosthodontics,School of Stomatology,The Fourth Military Medical University&State Key Laboratory of Military Stomatology&National Clinical Research Center for Oral Diseases&Shaanxi Key Laboratory of Stomatology,Xi′an 710032,China)

机构地区：[1]第四军医大学口腔医学院数字化口腔医学中心军事口腔医学国家重点实验室口腔疾病国家临床医学研究中心陕西省口腔疾病临床医学研究中心,西安710032 [2]第四军医大学口腔医学院口腔修复科军事口腔医学国家重点实验室口腔疾病国家临床医学研究中心陕西省口腔医学重点实验室,西安710032

出　　处：《中华口腔医学杂志》2021年第2期170-174,共5页Chinese Journal of Stomatology

基　　金：国家自然科学基金(81970987);军队医学科研专项(13KJZ02)。

摘　　要：目的评价自主式口腔种植机器人手术系统(Autonomous Dental Implant Robotic System,ADIR)在动物口内进行种植手术的准确性。方法选择9只中华田园犬(3岁,性别不限),拔除下颌双侧前磨牙,制作牙列缺损模型。每只犬下颌骨每侧缺牙区各植入2枚种植体,分别由ADIR(机器人组)和1名有丰富种植手术经验的副主任医师使用数字化全程导板(导板组)完成,每组18枚。术后评价种植体实际植入位置与规划位置的偏差,包括颈部、根部和角度偏差;测量种植体初期稳定性,比较机器人组与导板组差异。结果ADIR能顺利在全身麻醉动物口内完成种植体植入。机器人组种植体颈部偏差[M(Q)]为0.269(0.152)mm、根部偏差为0.254(0.218)mm、角度偏差为0.989°(0.517°),均显著小于导板组[颈部偏差为0.910(0.872)mm、根部偏差为1.179(1.176)mm、角度偏差为4.209°(5.208°)](P<0.05)。两组种植体初期稳定性差异无统计学意义(P>0.05)。结论本课题组研发的ADIR在动物口内进行种植体手术的准确性优于数字化全程导板。Objective To evaluate the accuracy of the Autonomous Dental Implant Robotic System(ADIR)in vivo through animal experiments.Methods Nine canine models with bilateral mandibular premolars loss were prepared.Two implants were placed in each side of canine′s mandibular edentulous area.On each side,the two implants were completed by ADIR(robot group)and one experienced doctor using digital full-guided plate(guide template group)respectively.After the operation,the deviation between the actual implant position and the planned position was evaluated.The primary stability of the implant was measured,and the results of the robot group and the guide template group were statistically analyzed.Results ADIR could successfully place implant for missing teeth in animals,and the coronal deviation,apical deviation and angular deviation[M(Q)]were 0.269(0.152)mm,0.254(0.218)mm and 0.989°(0.517°)respectively,which were significantly lower than those of guide template group[the coronal deviation,apical deviation and angular deviation were 0.910(0.872)mm,1.179(1.176)mm and 4.209°(5.208°)respectively](P<0.05).Besides,there was no significant difference in the primary stability of the implant between the two groups(P>0.05).Conclusions This study confirmed the accuracy of the ADIR in vivo,and laid a foundation for further clinical trials.

关 键 词：牙种植 机器人 动物实验 

分 类 号：R783.6[医药卫生—口腔医学]