Abstract：
To assess the feasibility and accuracy of a semi-autonomous two-stage dental robotic technique for zygomatic implants.
Twenty-six zygomatic implants were designed and randomly divided into two groups using 10 three-dimensionally printed resin models with severe maxillary atrophy. In one group, the conventional drilling technique was used, in the other group, the drilling process for the alveolar ridge section (first stage) was completed, after which drilling for the zygoma section (second stage) was done. Based on preoperative planning combined with postoperative cone-beam computed tomography (CBCT), coronal, apical, depth, and angle deviations were measured. Zygomatic implant placement technique-related deviations (sinus slot, intrasinus, and extrasinus) were also recorded and analyzed.
The two-stage technical group\'s coronal, apical, depth, and angle deviations were 0.57 ± 0.19 mm, 1.07 ± 0.48 mm, 0.30 ± 0.38 mm, and 0.91 ± 0.51°, respectively. The accuracy of the two-stage technique was significantly higher than that of the conventional one-stage technique (p < 0.05). The apical deviation in the intrasinus group was 1.12 ± 0.56 mm, which was significantly better than that in the other two groups (p < 0.05). The angle deviation in the sinus slot group was 1.96 ± 0.83°, which was significantly worse than that in the other two groups (p < 0.05).
Using the semi-autonomous two-stage dental robotic technique for zygomatic implants is feasible and is more accurate than using the conventional one-stage technique.
The two-stage technique enabled the semi-autonomous robot to overcome the mouth-opening restriction for zygomatic implants and improved accuracy.
Twenty-six zygomatic implants were designed and randomly divided into two groups using 10 three-dimensionally printed resin models with severe maxillary atrophy. In one group, the conventional drilling technique was used, in the other group, the drilling process for the alveolar ridge section (first stage) was completed, after which drilling for the zygoma section (second stage) was done. Based on preoperative planning combined with postoperative cone-beam computed tomography (CBCT), coronal, apical, depth, and angle deviations were measured. Zygomatic implant placement technique-related deviations (sinus slot, intrasinus, and extrasinus) were also recorded and analyzed.
The two-stage technical group\'s coronal, apical, depth, and angle deviations were 0.57 ± 0.19 mm, 1.07 ± 0.48 mm, 0.30 ± 0.38 mm, and 0.91 ± 0.51°, respectively. The accuracy of the two-stage technique was significantly higher than that of the conventional one-stage technique (p < 0.05). The apical deviation in the intrasinus group was 1.12 ± 0.56 mm, which was significantly better than that in the other two groups (p < 0.05). The angle deviation in the sinus slot group was 1.96 ± 0.83°, which was significantly worse than that in the other two groups (p < 0.05).
Using the semi-autonomous two-stage dental robotic technique for zygomatic implants is feasible and is more accurate than using the conventional one-stage technique.
The two-stage technique enabled the semi-autonomous robot to overcome the mouth-opening restriction for zygomatic implants and improved accuracy.
摘要：
目的：评估用于the骨植入物的半自主两阶段牙科机器人技术的可行性和准确性。
方法：使用10个严重上颌骨萎缩的三维打印树脂模型，设计了26个zy骨种植体，随机分为两组。在一组中,使用了传统的钻井技术，在另一组中，完成了牙槽脊部分的钻孔过程（第一阶段），之后进行zygoma切片（第二阶段）的钻孔。基于术前计划结合术后锥形束CT（CBCT），日冕,顶端,深度,和角度偏差进行了测量。颧骨植入物放置技术相关偏差(窦槽，内，和extrasinus）也被记录和分析。
结果：两阶段技术组的日冕，顶端,深度,角度偏差为0.57±0.19mm，1.07±0.48mm,0.30±0.38mm,和0.91±0.51°，分别。两阶段技术的准确性明显高于常规一阶段技术（p<0.05）。根内组的根尖偏差为1.12±0.56mm,明显优于其他两组(p<0.05)。窦槽组的角度偏差为1.96±0.83°,显著低于其他两组(p<0.05)。
结论：使用半自主两阶段牙科机器人技术进行zy骨植入物是可行的，并且比使用常规的一阶段技术更准确。
结论：两阶段技术使半自主机器人能够克服of骨植入物的张口限制，并提高了准确性。
方法：使用10个严重上颌骨萎缩的三维打印树脂模型，设计了26个zy骨种植体，随机分为两组。在一组中,使用了传统的钻井技术，在另一组中，完成了牙槽脊部分的钻孔过程（第一阶段），之后进行zygoma切片（第二阶段）的钻孔。基于术前计划结合术后锥形束CT（CBCT），日冕,顶端,深度,和角度偏差进行了测量。颧骨植入物放置技术相关偏差(窦槽，内，和extrasinus）也被记录和分析。
结果：两阶段技术组的日冕，顶端,深度,角度偏差为0.57±0.19mm，1.07±0.48mm,0.30±0.38mm,和0.91±0.51°，分别。两阶段技术的准确性明显高于常规一阶段技术（p<0.05）。根内组的根尖偏差为1.12±0.56mm,明显优于其他两组(p<0.05)。窦槽组的角度偏差为1.96±0.83°,显著低于其他两组(p<0.05)。
结论：使用半自主两阶段牙科机器人技术进行zy骨植入物是可行的，并且比使用常规的一阶段技术更准确。
结论：两阶段技术使半自主机器人能够克服of骨植入物的张口限制，并提高了准确性。
