口内扫描配准种植机器人在种植牙手术中的应用

doi:10.7518/hxkq.2024.2024213

华西口腔医学杂志 ›› 2024, Vol. 42 ›› Issue (6): 804-809.doi: 10.7518/hxkq.2024.2024213

口内扫描配准种植机器人在种植牙手术中的应用

靳能皓¹^,²(), 乔波¹^,²(), 朱亮¹^,², 孟凡皓²^,³, 林权泉²^,⁴, 李粮博¹^,², 邢乐君¹, 赵睿²^,⁵(), 张海钟¹()

^1.解放军总医院第一医学中心口腔颌面外科，北京 100853
^2.解放军医学院，北京 100853
^3.首都医科大学附属北京友谊医院口腔科，北京 100050
^4.解放军总医院第六医学中心口腔科，北京 100048
^5.北京瑞医博口腔诊所，北京 100080

收稿日期:2024-05-30 修回日期:2024-09-11 出版日期:2024-12-01 发布日期:2024-11-29
通讯作者: 赵睿,张海钟 E-mail:jinnenghao301@163.com;qiaobo301@126.com;13641243467@163.com;13-641243467@163.com;zhanghaizhong@301hospital.com.cn
作者简介:靳能皓，主治医师，博士，E-mail：jinnenghao301@163.com|乔波，主治医师，博士，E-mail：qiaobo301@126.com
基金资助:
北京市自然科学基金-海淀原始创新联合基金(L2120-10)

Application of intraoral scanning registration implant robot in dental implant surgery

Jin Nenghao¹^,²(), Qiao Bo¹^,²(), Zhu Liang¹^,², Meng Fanhao²^,³, Lin Quanquan²^,⁴, Li Liangbo¹^,², Xing Lejun¹, Zhao Rui²^,⁵(), Zhang Haizhong¹()

^1.Dept. of Oral and Maxillofacial Surgery, The First Medical Center, Chinese PLA General Hospital, Beijing 100853, China
^2.Chinese PLA Medical School, Beijing 100853, China
^3.Dept. of Stomatology, Beijing Friendship Hospital, Capital Medical University, Beijing 100050, China
^4.Dept. of Stomatology, The Sixth Medical Center of Chinese PLA General Hospital, Beijing 100048, China
^5.Beijing Ruiyibo Dental Clinic, Beijing 100080, China

Received:2024-05-30 Revised:2024-09-11 Online:2024-12-01 Published:2024-11-29
Contact: Zhao Rui,Zhang Haizhong E-mail:jinnenghao301@163.com;qiaobo301@126.com;13641243467@163.com;13-641243467@163.com;zhanghaizhong@301hospital.com.cn
Supported by:
Beijing Natural Science Foundation-Haidian Original Innovation Joint Fund Project(L212010)

摘要/Abstract

摘要：

目的探讨口内扫描与锥形束CT（CBCT）术前配准在口腔种植机器人辅助种植牙手术中的应用。方法回顾性分析2023年11月—2024年5月机器人辅助种植的牙列缺损病例资料40例，手术前将佩戴定位标志物的口内扫描数据与CBCT数据分别与初始CBCT图像自动配准融合并计算配准误差，术中计算定位标志物注册平均误差并对术后的植入精度进行分析。结果 40例牙列缺损患者佩戴定位标志物的口内扫描数据和CBCT数据分别与初始CBCT影像均成功配准融合，配准误差值分别为（0.157±0.026）mm和（0.154±0.033）mm，统计学分析表明二者差异无统计学意义。定位标志物注册误差值为（0.037 3±0.003 6）mm。共完成55枚种植体植入，植入点、根尖点的总误差分别为（0.78±0.41）、（0.89±0.28）mm，横向误差分别为（0.44±0.36）、（0.58±0.25）mm，深度误差分别为（0.51±0.32）、（0.54±0.36）mm；植入角度误差为1.24°±0.67°。结论基于口内扫描与CBCT配准融合技术能够满足口腔种植机器人术前配准的精度需求，增加了机器人辅助种植牙手术术前配准方式的选择并减少了患者多次辐射暴露。

关键词: 牙种植, 计算机辅助设计, 机器人外科手术, 口内扫描

Abstract:

Objective This paper aims to investigate the application of intraoral scanning and cone beam computed tomography (CBCT) registration implant robot in dental implant surgery. Methods The data of 40 cases with dental defect of robot-assisted implantation from November 2023 to May 2024 were retrospectively analyzed. Before the operation, the intraoral scan data and CBCT data of the positioning markers were automatically fused with the initial CBCT images, and the registration error was calculated. The average registration error of positioning markers was determined during the operation, and the implantation accuracy was analyzed after the operation. Results The intraoral scan data and CBCT data of 40 patients with dental defect wearing positioning markers were successfully registered with the initial CBCT image, and the registration errors were (0.157±0.026) mm and (0.154±0.033) mm, respectively. Statistical analysis showed no statistical significance between them. The registration errors of the marker was (0.037 3±0.003 6) mm. A total of 55 implants were performed, and the total deviations of the implant point and the apical point were (0.78±0.41) and (0.89±0.28) mm, respectively. The transverse deviations of the implant point and the apical point were (0.44±0.36) and (0.58±0.25) mm, respectively. The depth deviations of the implant point and the apical point were (0.51±0.32) and (0.54±0.36) mm, respectively. The deviation of the implant angle was 1.24°±0.67°. Conclusion The fusion technology based on intraoral scanning and CBCT registration can meet the accuracy requirements of preoperative registration of oral implant robots. The technology increases the choice of registration methods before robot-assisted dental implant surgery and reduces the multiple radiation exposuresof the patient.

Key words: dental implant, computer-aided design, robotic surgery, intraoral scanning

中图分类号:

R783

靳能皓, 乔波, 朱亮, 孟凡皓, 林权泉, 李粮博, 邢乐君, 赵睿, 张海钟. 口内扫描配准种植机器人在种植牙手术中的应用[J]. 华西口腔医学杂志, 2024, 42(6): 804-809.

Jin Nenghao, Qiao Bo, Zhu Liang, Meng Fanhao, Lin Quanquan, Li Liangbo, Xing Lejun, Zhao Rui, Zhang Haizhong. Application of intraoral scanning registration implant robot in dental implant surgery[J]. West China Journal of Stomatology, 2024, 42(6): 804-809.

图/表 3

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口内扫描配准种植机器人在种植牙手术中的应用

Application of intraoral scanning registration implant robot in dental implant surgery

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