关键词: 口腔种植机器人, 口腔种植, 精度, 临床评估

Abstract: Objective    To analyze the influence of factors such as the implantation area，jawbone quality，implant length，implantation timing，and the number of implants in a single surgery on the implantation accuracy of oral implant robots. Methods    A total of 80 patients（116 implants）who underwent oral implant robot surgery at the Department of Stomatology of Chifeng Hospital from March to December 2024 were selected. All patients' implant surgeries were performed under the guidance of the Ruiyibo oral implant robot，and cone beam CT（CBCT）was used to collect preoperative and postoperative images. Seven accuracy indicators［including neck deviation（total deviation，lateral deviation，depth deviation），apical deviation（total deviation，lateral deviation，depth deviation），and angle deviation］were quantified through three-dimensional registration technology. The differences in implantation accuracy of oral implant robots were compared among different implantation areas（29 anterior teeth and 87 posterior teeth，48 maxillary and 68 mandibular，60 left and 56 right），jawbone quality（35 hard bone and 81 soft bone），implant length［50 long implants（≥ 10 mm）and 66 short implants（< 10 mm）］，implantation timing（12 immediate anterior teeth and 17 delayed anterior teeth），and the number of implants in a single surgery（62 single-tooth implants and 54 multi-tooth coordinated implants）. Results    The total apical deviation［（0.24 ± 0.13）mm］，lateral apical deviation［（0.18 ± 0.06）mm］，depth apical deviation ［（0.17 ± 0.11）mm］，and angle deviation［（0.63 ± 0.09）°］of hard bone implants were significantly smaller than those of soft bone implants ［respectively（0.57 ± 0.15）mm，（0.44 ± 0.07）mm，（0.60 ± 0.23）mm，（1.57 ± 0.20）°］；the angle deviation［（0.81 ± 0.39）°］of short implants was significantly smaller than that of long implants［（1.84 ± 0.41）°］；the total neck deviation［（0.21 ± 0.10）mm］，lateral deviation［（0.13 ± 0.08）mm］，depth deviation［（0.16 ± 0.09）mm］，total apical deviation［（0.22 ± 0.06）mm］，lateral apical deviation［（0.14 ± 0.04）mm］，depth apical deviation［（0.16 ± 0.09）mm］，and angle deviation［（0.90 ± 0.30）°］of delayed anterior teeth implants were significantly smaller than those of immediate anterior teeth implants［respectively（0.58 ± 0.17）mm，（0.44 ± 0.12）mm，（0.33 ± 0.05）mm，（0.41 ± 0.10）mm，（0.64 ± 0.20）mm，（0.46 ± 0.17）mm，（1.74 ± 0.50）°］；the total apical deviation［（0.20 ± 0.76）mm］ of single-tooth implants was significantly smaller than that of multi-tooth coordinated implants［（0.50 ± 0.15）mm］，and the differences were all statistically significant（all P < 0.05）. However，there were no statistically significant differences in neck deviation，apical deviation，and angle deviation among different implantation areas，neck deviation among different jawbone qualities，neck deviation and apical deviation among different implant lengths，or neck deviation，lateral apical deviation，depth apical deviation and angle deviation among different numbers of implants in a single surgery（all P > 0.05）. Conclusion     Factors such as the quality of the jawbone，the length of the implant，the timing of implantation，and the number of implants placed in a single surgery may all affect the implantation accuracy of oral implant robots. Among these，the implantation accuracy is relatively higher under conditions of harder bone，with shorter implants，in delayed implantation，and when only one tooth is implanted.

Key words: oral implant robot, oral implantation, accuracy, clinical evaluation