A transcrestal sinus floor elevation strategy based on a haptic robot system: An in vitro study

IF 3.7 2区 医学 Q1 DENTISTRY, ORAL SURGERY & MEDICINE
Shimin Yu, Yulan Wang, Yunxiao Wang, Richard J. Miron, Qi Yan, Yufeng Zhang
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引用次数: 0

Abstract

ObjectivesTo reveal the force profiles recorded by haptic autonomous robotic force feedback during the transcrestal sinus floor elevation (TSFE) process, providing a reference for the surgery strategy during TSFE.Materials and methodsA total of 42 maxillary sinus models with different angles of the sinus floor (30°, 40°, 50°, 60°, 70°, 80°, and 90°, compared to vertical plane) were 3D printed. Implant site preparation was performed using a robotic system, and the total force (Ft) and axial force along the drill (Fz) during the surgery were recorded by the haptic robotic arm. The actual initial breakthrough point (drill contacting sinus floor) and complete breakthrough point (drill penetrating the sinus floor) were defined visually (the actual IBP and the actual CBP). The theoretical initial breakthrough point (the theoretical IBP) and the theoretical complete breakthrough point (the theoretical CBP) defined by the robot‐guided system and the CBCT were determined by real‐time force feedback and imaging distance measurement, respectively. The distance from the bottom of the resin model to the actual IBP and the actual CBP was defined as Di and Dt, respectively.ResultsThe difference in Fz began to increase significantly at 70°, while the difference in Ft became significant at 60°. When the angle was greater than 70°, there was no significant difference in the discrepancy between the actual and theoretical perforation points. Compared to judging the breakthrough point by CBCT, real‐time force feedback TSFE under robotic surgery achieved more accurate initial breakthrough point detection.ConclusionsThe smaller the angle, the larger the breakthrough force for the drill. The real‐time force feedback of haptic robotic system during TSFE could provide reliable reference for dentists. More clinical studies are needed to further validate the application of robotic surgery assisted TSFE.
基于触觉机器人系统的经骨窦底提升策略:体外研究
材料和方法 三维打印了42个上颌窦模型,这些模型的窦底角度各不相同(与垂直面相比,分别为30°、40°、50°、60°、70°、80°和90°)。种植部位的准备工作由机器人系统完成,手术过程中的总力(Ft)和沿钻头的轴向力(Fz)由触觉机器人手臂记录。实际初始突破点(钻头接触到窦底)和完全突破点(钻头穿透窦底)由视觉定义(实际 IBP 和实际 CBP)。机器人引导系统和 CBCT 通过实时力反馈和成像距离测量分别确定了理论初始突破点(理论 IBP)和理论完全突破点(理论 CBP)。从树脂模型底部到实际 IBP 和实际 CBP 的距离分别定义为 Di 和 Dt。当角度大于 70° 时,实际穿孔点和理论穿孔点的差异没有明显差异。结论 角度越小,钻头的突破力越大。在 TSFE 过程中,触觉机器人系统的实时力反馈可为牙科医生提供可靠的参考。要进一步验证机器人手术辅助 TSFE 的应用,还需要更多的临床研究。
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来源期刊
CiteScore
6.00
自引率
13.90%
发文量
103
审稿时长
4-8 weeks
期刊介绍: The goal of Clinical Implant Dentistry and Related Research is to advance the scientific and technical aspects relating to dental implants and related scientific subjects. Dissemination of new and evolving information related to dental implants and the related science is the primary goal of our journal. The range of topics covered by the journals will include but be not limited to: New scientific developments relating to bone Implant surfaces and their relationship to the surrounding tissues Computer aided implant designs Computer aided prosthetic designs Immediate implant loading Immediate implant placement Materials relating to bone induction and conduction New surgical methods relating to implant placement New materials and methods relating to implant restorations Methods for determining implant stability A primary focus of the journal is publication of evidenced based articles evaluating to new dental implants, techniques and multicenter studies evaluating these treatments. In addition basic science research relating to wound healing and osseointegration will be an important focus for the journal.
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