The Study On Accurary Of The Dental Implantology Robotic System

[Background]In recent years the dental implant technology had a rapid development.With the methods of dental implant suface treatment getting mature,the osseointegration rate increasing,the surgical technology continuing to innovate and the indications of dental implant surgery having expanded, so there is almost no absolute contraindication in the dental implant treatment and many new implant restorative planting has also been widely used in clinical. Accompanied by the improvement of living standards,people have paid more attention on the dental health,and the dental implant treatment has been recognized by more and more patients who have had lost some tooth,because the implant prosthesis is aesthetic and comfortable. But in the traditional implant surgery, treatment effect is mainly decided on the the doctor’s clinical experience and accurate operation, any error of the operation will affect the long-term functional and esthetic results and cause unnecessary complications.While surgical robot has been successful in the field of surgery,the minimally invasive, accurate and efficient superiority of the surgical robot have been recognized by more and more domestic and overseas scholars.So combining the dental implant technology with the surgical robot technology and letting the robot to replace the doctor to complete the surgery have became a future direction of the oral implantology. [Objective]Based on the background the research group with the robotics institute of Beijing University of Aeronautics and Astronautics have designed the the Oral Implantology Robotic System.This system is a medical robotic system which is combined with vision sensor,force sensor, 3D visualization and miniature robotics technology.The purpose of this study are:1.Design and manufacture a kind of modular dentition defect models which are suitable for the planting accurary study of the Dental Implantology Robotic System.2.Through the implant model experiment we can validate the accurary of the Dental Implantology Robotic System and make a detailed errors analysis in order to optimize the software, hardware and surgical procedures and prepare for the subsequent animal experiments and clinical experiment. [Method]1.Classify the modular dentition defect models according to the Kennedy Classification Method and use the reverse engineering software Geomagic to build the 3D digital models.2.Manufacture the modular dentition defect models by using 3D printing technology.3.Analyse registration errors of the modular dentition defect models and exclude interference for subsequent experiments errors analysis.4.Build the operation platform, robot system,and navigation environment of the Oral Implantology Robotic System.And then calibrate the whole system.5.Plan the planting path of the robot.6.Complete the model experiments Coupled with navigation.7.Reconstruct the postoperative modle by CBCT scan and save as STL format. Registrate the preoperative modle and the postoperative modle,then extract the four points of the planting cavity and the planting path.Import the four point into Excel software and calculate the entry deviations, apical deviation and axis deviation.8.Import the data to the SPSS software for the statistical analysis.9.Make error analysis according to the process of the implant planting by Dental Implantology Robotic System. [Results]1.By using reverse engineering software Geomagic and 3D printing technology we Design and manufacture a kind of modular dentition defect models which are suitable for the accurary study of the Dental Implantology Robotic System.2.The analysis indicate that the registration error located on the average distance is 0.093 mm and the standard deviation is 0.008mm; One-sample T test show P<0.05( α = 0.05),rejecting the null hypothesis and the conclusion is the registration error of the modular model is less than 0.1 mm. 3.The result of the planting accurary study of Dental Implantology Robotic System indicate that the entry deviations is 0.705 ± 0.145(95%CI:0.673-0.737mm),the apical deviation is 0.998 ± 0.232(95%CI:0.948-1.050mm)and the axis deviation is 2.077 ± 0.455(95%CI:1.978-2.175mm).The results of SNK-q test show that there is no statistical difference in the entry deviations, apical deviation and the axis deviation between the pairwise comparisons in four types of mandibular classification modles. [Constructions]The Construction of the modular dentition defect models is an important part of the planting accurary study.By using this kind of modles we could simulate surgical environment, simplify the experimental procedure and improve the accuracy of the model so as to reducing the interference in the later analysis of accurary. And we analyse registration errors of the modular dentition defect models,through the result we could learn that the registration errors located on the average distance is 0.093 mm,using this kind of registration method has little interference to the subsequent experiments errors analysis.And then we validate the planting accurary of the Dental Implantology Robotic System.Comparing the planting path and planting cavity we get the result as the entry deviations, the apical deviation and the axis deviation.These result indicate that the Dental Implantology Robotic System is accurary and stabile.Accroding to the result,we make a detailed error analysis against the planting pross of the Dental Implantology Robotic System and find out the source of the errors and the further improvement of the system.