Int J Med Robot - From implant planning to surgical execution: an integrated approach for surgery in oral implantology.

Tópicos

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Resumo

CKGROUND: Using oral implantology software and transferring the preoperative planning into a stereolithographic model, prosthodontists can produce the related surgical guide. This procedure has some disadvantages: bone-supported stent invasiveness, lack of references due to scattering and non-negligible stereolithography cost. An alternative solution is presented that provides an ideal surgical stent (not invasive, precise, and cheap) as a result. This work focuses on the third phase of a fully 3D approach to oral implant planning, that starts by CT scanning a patient who wears a markers-equipped radiological stent, continues exploiting built-on-purpose preoperative planning software, and finishes producing the ideal surgical template.METHODS: A 5-axes bur-equipped robot has been designed able to reproduce the milling vectors planned by the software. Software-robot interfacing has been achieved properly matching the stent reference frame and the software and robot coordinate systems. Invasiveness has been avoided achieving the surgical stent from the mucosa-supported radiological mask wax-up. Scattering is ignored because of the surgical stent independency from the bone structure radiography. Production cost has been strongly reduced by avoiding the stereolithographic model. Finally, software-robot interfacing precision has been validated comparing digitally a multi-marker base and its planning transfer.RESULTS: Average position and orientation errors (respectively 0.283 mm?0.073 mm and 1.798??0.496?) were significantly better than those achieved using methods based on stereolithography (respectively, 1.45 mm?1.42 mm and 7.25??2.67?, with a general best maximum translation discrepancy of about 1.1 mm).CONCLUSIONS: This paper describes the last step of a fully 3D approach in which implant planning can be done in a 3D environment, and the correct position, orientation and depth of the planned implants are easily computed and transferred to the surgical phase.

Resumo Limpo

ckground use oral implantolog softwar transfer preoper plan stereolithograph model prosthodontist can produc relat surgic guid procedur disadvantag bonesupport stent invas lack refer due scatter nonneglig stereolithographi cost altern solut present provid ideal surgic stent invas precis cheap result work focus third phase fulli d approach oral implant plan start ct scan patient wear markersequip radiolog stent continu exploit builtonpurpos preoper plan softwar finish produc ideal surgic templatemethod axe burequip robot design abl reproduc mill vector plan softwar softwarerobot interfac achiev proper match stent refer frame softwar robot coordin system invas avoid achiev surgic stent mucosasupport radiolog mask waxup scatter ignor surgic stent independ bone structur radiographi product cost strong reduc avoid stereolithograph model final softwarerobot interfac precis valid compar digit multimark base plan transferresult averag posit orient error respect mm mm signific better achiev use method base stereolithographi respect mm mm general best maximum translat discrep mmconclus paper describ last step fulli d approach implant plan can done d environ correct posit orient depth plan implant easili comput transfer surgic phase

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