口腔手术机器人辅助显微根尖手术精度的初步研究  

A preliminary research on the accuracy of oral Surgery Robot-assisted endodontic microsurgery

作　　者：苏航 赵文博 李昕茹 宿玉成 周立波[1] SU Hang;ZHAO Wen-bo;LI Xin-ru;SU Yu-cheng;ZHOU Li-bo(Affiliated Stomatological Hospital,Jiamusi University,Heilongjiang Key Lab of Oral Biomedicine Materials and Clinical Application,Jiamusi 154000,China;不详)

机构地区：[1]佳木斯大学附属口腔医院黑龙江省口腔生物医学材料及临床应用重点实验室,黑龙江佳木斯154000 [2]中国医学科学院北京协和医学院北京协和医院口腔种植中心,北京100032

出　　处：《牙体牙髓牙周病学杂志》2024年第2期80-83,共4页Chinese Journal of Conservative Dentistry

基　　金：黑龙江省自然科学基金项目(LH2021H108);黑龙江省高等教育教学改革项目(SJGZ20220124)。

摘　　要：目的:评价口腔手术机器人辅助显微根尖手术的准确性,同时验证口内扫描在术后准确性测量中应用的可行性。方法:使用口腔手术机器人在猪下颌骨上模拟显微根尖手术的骨开窗、根尖切除操作,术前进行锥形束CT(CBCT)扫描、手术路径规划,术后使用两种测量方法对手术路径三维偏差进行精度分析。结果:使用两种方法测量根尖手术术后的三维偏差。CBCT测量起点偏差0.64±0.04 mm;终点偏差0.72±0.05mm;角度偏差1.07±0.14°,口内扫描测量起点偏差0.65±0.04 mm;终点偏差0.72±0.03 mm;角度偏差1.00±0.11°,两种测量方法的起点偏差、终点偏差、角度偏差之间差异无统计学意义(P>0.05)。结论:口腔手术机器人能有效实现根尖手术的可视化、微创化,实现精准根尖切除。口内扫描可用于测量机器人辅助显微根尖手术的准确性,并且不涉及患者额外的辐射暴露。AIM:To assess the precision of robot-assisted Endodontic microsurgery in oral surgery,and to val⁃idate the practicality of intraoral scanning in postoperative accuracy measurement.METHODS:An oral surgical robot was utilized to simulate osteotomy and apicoectomy operations on the porcine mandible.Prior to surgery,CBCT scanning and surgical path planning were conducted,and the accuracy of the three-dimensional deviation of the surgical path was analyzed using two measurement methods after the surgery.RESULTS:Two methods were employed to measure the 3D deviation following Endodontic microsurgery.The CBCT measurement showed an entry point deviation of 0.64±0.04 mm and an end point deviation of 0.72±0.05 mm,with an angular deviation of 1.07±0.14°.On the other hand,the intraoral scan measurement indicated an entry point deviation of 0.65±0.04 mm and an end point deviation of 0.72±0.03 mm,with an an⁃gular deviation of 1.00±0.11°.There was no significant difference in the entry point deviation,end point deviation,and an⁃gular deviation between the two measurement methods(P>0.05).CONCLUSION:The oral surgery robot has demon⁃strated effective visualization,minimization,and precision in performing Endodontic microsurgery.Intraoral scanning can be utilized to assess the accuracy of robot-assisted Endodontic microsurgery without subjecting the patient to additional ra⁃diation exposure.

关 键 词：显微根尖手术 根尖切除术 机器人辅助手术 精度 口内扫描仪 

分 类 号：R78[医药卫生—口腔医学]