全牙列即刻种植即刻负荷的机器人复杂种植  

A case of complex implant treatment using robotics:immediate implant placement and immediate loading of a full dental arch

作　　者：孟怡麟 瞿晓辉[2] 滕新亚 李如华 毕立锋 邹德荣[2] Meng Yilin;Qu Xiaohui;Teng Xinya;Li Ruhua;Bi Lifeng;Zou Derong(Oral Medicine Technology,Shanghai University of Medicine&Health Sciences,Shanghai 201318,China;Department of Dental Implantology,Shanghai Sixth People’s Hospital,Shanghai 202233,China;Shanghai Jieda Dental Labs Co.,Ltd,Shanghai 201812,China;Beijing Yakebot Technology Co.,Ltd,Beijing 100007,China)

机构地区：[1]上海健康医学院口腔医学技术专业,201318 [2]上海市第六人民医院口腔种植中心,200233 [3]上海杰达齿科制作有限公司,201812 [4]雅客智慧(北京)科技有限公司,100007

出　　处：《中国口腔种植学杂志》2024年第1期70-76,共7页Chinese Journal of Oral Implantology

基　　金：上海市科委基金(20Y11903800)。

摘　　要：目的在口腔种植机器人与复叠式导板系统的组合下,实施全牙列复杂种植的可行性并验证精度。方法使用口腔种植机器人,在患者上颌拔牙后即刻植入共计6颗种植体。术前利用软件完成口扫及CBCT数据重建,根据咬合重建原则设计种植固定义齿,以修复为导向规划种植体,设计复叠式导板,规划种植方案;术中机器人配准,拔除余留牙,医生通过脚踏控制机器人自主进行26位点穿牙槽嵴上颌窦底提升及其余种植窝洞级差备洞,植入种植体后临时种植固定义齿进行就位;术后拍摄第二次CBCT与先前的规划数据进行精度评估。结果共计植入6颗种植体,颈部偏差为(0.65±0.22)mm、根尖偏差为(0.57±0.19)mm、角度偏差为0.96°±0.24°,患者术后无不良反应,成功负荷上颌临时种植固定义齿。结论使用口腔种植机器人结合复叠式导板系统实施全牙列种植手术,可以达到较高的种植精度,避免了术中再次拍摄CBCT,降低了手术难度,缩短了治疗时间,实现了以修复为导向的即刻种植即刻负荷。Objective To verify the feasibility and accuracy of complex full dental arch implant treatment with the combination of an oral implant robot and a combined guide system.Methods A total of 6 implants were placed immediately after upper teeth extraction using an oral implant robot.The intraoral scan and CBCT data were reconstructed in the software,and the implant-retained denture was designed according to the principle of occlusal reconstruction.The implants,combined guide,and treatment scheme were planned with the restoration-driven implant concept.During the operation,the robot registration was performed,and the remaining teeth were extracted.The surgeon controlled the robot by a foot pedal,and the robot autonomously carried out the transalveolar sinus floor elevation at the 26 site and prepared the rest implant beds.The implants were placed,and the provisional fixed denture was fitted in position.A second CBCT was taken postoperatively to evaluate the accuracy with the previous planning data.Results A total of 6 implants were placed,with neck deviation of(0.65±0.22)mm,apical deviation of(0.57±0.19)mm,and angular deviation of 0.96°±0.24°.The patient had no postoperative complications and successfully adapted to the provisional implant-retained denture.Conclusion The use of the oral implant robot combined with the combined guide system to implement the full dental arch implant surgery can achieve high implant accuracy,avoid taking CBCT again during the operation,reduce the difficulty and time of the operation,and realize the restoration-driven immediate implant placement and immediate loading.

关 键 词：口腔种植 机器人 导航手术 精度 

分 类 号：R783.6[医药卫生—口腔医学]