口腔医学研究

口腔医学研究 ›› 2026, Vol. 42 ›› Issue (2): 115-120.DOI: 10.13701/j.cnki.kqyxyj.2026.02.006

• 口腔种植学研究 • 上一篇    下一篇

改良标定板辅助下种植机器人在下颌All-on-4种植中的体外备孔精度探究

郭慧颖1,2, 魏路明2, 王鹏来1,2, 李晓明2, 李晓飞2, 袁长永1,2*   

  1. 1.徐州医科大学口腔医学院 江苏 徐州 221004;
    2.徐州医科大学附属口腔医院种植科 江苏 徐州 221002
  • 收稿日期:2025-04-25 发布日期:2026-02-28
  • 通讯作者: *袁长永,E-mail:yuanchangyong1983@foxmail.com
  • 作者简介:郭慧颖(1998~ ),女,江苏徐州人,硕士,医师,主要从事口腔种植学相关研究。
  • 基金资助:
    徐州市临床前沿技术项目(编号:KC23150)

Analysis of Hole Preparation Accuracy of Modified Template-assisted Implant Robot Technology in Mandibular All-on-4 Surgery Based on Model Experiment

GUO Huiying1,2, WEI Luming2, WANG Penglai1,2, LI Xiaoming2, LI Xiaofei2, YUAN Changyong1,2*   

  1. 1. School of Stomatology, Xuzhou Medical University, Xuzhou 221004, China;
    2. Department of Implant Dentistry, Affiliated Stomatological Hospital of Xuzhou Medical University, Xuzhou 221002, China
  • Received:2025-04-25 Published:2026-02-28

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摘要： 目的: 对现有的Marker标定板进行改良,并探究种植机器人系统在下颌All-on-4种植治疗中的体外备孔精度。方法: 在改良式Marker标定板的辅助下,使用种植机器人系统完成20个下颌All-on-4种植模型的备孔操作,分析种植窝洞及固位钉实际位置与术前规划之间的差异,并观测备孔过程中各钻针所受的最大侧向力。结果: 直立种植位点、30°倾斜种植位点及45°倾斜种植位点的备孔偏差比较,差异均无统计学意义(P>0.05);种植窝洞简化模型其顶点偏差与底点偏差间的差异,以及固位钉简化模型其顶点偏差与底点偏差间的差异,均无统计学意义(P>0.05);平整钻与先锋钻在直立种植位点所受的最大侧向力较倾斜种植位点时小,并且在30°倾斜位点时所受最大侧向力较在45°倾斜位点时小(P<0.05);在各种植位点中,平整钻所受最大侧向力均大于先锋钻和扩孔钻(P<0.05);在倾斜种植位点中,先锋钻所受最大侧向力大于扩孔钻(P<0.05)。结论: 在改良式Marker标定板的辅助下,种植机器人系统能够被应用于下颌All-on-4种植手术中,并获得了较高的备孔精度;此外,在备孔过程中,种植位点的倾斜角度会对平整钻与先锋钻所受的最大侧向力产生显著影响。

关键词: 口腔种植, 机器人手术, All-on-4, 精确度

Abstract: Objective: To investigate the accuracy of implant bed preparation in mandibular All-on-4 surgery, with help of modified existing robotic positioning marker, by using implant robot system in vitro. Methods: With the assistance of the modified robotic positioning marker, the implant robot system was used to complete the implant bed preparation operation of 20 mandibular All-on-4 implant models. The differences between the actual positions of implant beds and anchor pins and preoperative planning were measured and analyzed, as well as the maximum stress experienced during the drilling process using the drills. Results: There was no significant difference in entry deviation, apex deviation, and angular deviation between implants at different angles (P>0.05). There was no statistical difference between entry deviation and apex deviation within implant groups at different angles, and between entry deviation and apex deviation of screws (P>0.05). During hole preparation, a significant increasing trend in the maximum lateral stress experienced by the milling cutters and pilot drills was observed with increased implant placement angles during implant bed preparation (P<0.05). The maximum lateral stress on the milling cutter was significantly greater than that on the other drills at the same site (upright or tilted), and the maximum lateral stress on the pilot drill was significantly greater than that on the twist drill at the same tilted site (P<0.05). Conclusion: With the assistance of the modified robotic positioning marker, the implant robot technology could be used in the mandibular All-on-4 implant treatment with a high degree of hole preparation accuracy. In addition, during the drilling process, the inclination angle of the implanting site will have a significant impact on the maximum lateral force experienced by the cutters and pilot drills.

Key words: dental implant, robotic surgery, All-on-4, accuracy