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

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。

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

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 deviationM(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 groupthe 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.