An in vitro model study of the accuracy and operation time of oral surgery robot-assisted endodontic microsurgery
Objective To explore the operational accuracy and operative time of oral surgery robot-assisted endodontic microsurgery on a head-simulator for clinical reference.Methods Three pairs of surgical simulation models were set up on head-simulator.Each model included 10 positions anteriorly and posteriorly,20 teeth for each technique,for a total of 60 teeth.An attending physician with more than 3 years clinical experience in endodontic microsurgery completed fixed-point osteotomy and apicoectomy in three groups of endodontic microsurgery under freehand(FH),static navigation(SN),and surgery robot(SR).The duration of each operation was recorded.Cone-beam CT was taken before the operation and the surgical path was planned in the software;after surgery,a plug gauge(precision gauge for measuring hole dimensions)was inserted into the surgical path for intraoral scanning.Surgical accuracy(starting point,end point,and angular deviation)was assessed in all 3 groups,and surgery time was compared.Results The deviation at the starting point and the end point,and angular deviation was(0.37±0.11),(0.37±0.10)mm,and 0.71°±0.17°in the SR group.The deviations in the SR group were significantly lower than those in the SN group[(0.59±0.14),(0.65±0.18)mm,and 2.64°±0.75°](P＜0.05),and both groups were significantly lower than the FH group[(1.37±0.31),(1.10±0.21)mm,and 9.84°±3.15°](P＜0.05).The operative time in the SN group[(1.20±0.03)min]was significantly less than that in the SR group[(2.18±0.03)min](P＜0.05),and both groups were significantly less than that in the FH group[(8.70±3.15)min](P＜0.05).Starting point deviation,end point deviation,and angular deviation[(1.09±0.10),(0.90±0.07)mm,7.22°±1.13°]in anterior teeth using the FH was significantly lower than the starting deviation,endpoint deviation,and angular deviation[(1.65±0.14),(1.30±0.06)mm,12.46°±2.10°]in the posterior teeth using FH(P＜0.05),and the operative time in the anterior teeth using the FH[(5.75±0.57)min]was significantly less than that in the posterior teeth using[(11.65±1.14)min](P＜0.05).The difference in accuracy and operative time between using SN and SR on anterior and posterior teeth was not statistically significant(P＞0.05).Conclusions Oral surgery robot-assisted endodontic microsurgery helps improving the accuracy of clinicians'operations and shorten the operation time.
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