Available online 7 December 2023

Author links open overlay panel, , , , ABSTRACTPurpose

The purpose of this in vitro study was to explore the relationship between the force feedback and the primary stability of implants placed by using an autonomous dental implant robot.

Material and methods

Five groups (n=7) of wooden and polyurethane foam blocks were used to execute an implant surgery by using an autonomous implant robot. Tapered bone-level titanium dental implant replicas were placed in the blocks. The Young modulus, the maximal vertical and lateral drilling resistances, the position accuracy, and the insertion torque of implants were recorded. Simple linear regression, principal component analysis, and multiple linear regression were used. The osteotomy strategy for the implant site was adjusted according to the maximal vertical resistance of the pilot drill to achieve appropriate insertion torque. The correlation, Gompertz growth curve fitting of the insertion torque, and Young modulus were determined. The effect of the drilling resistances on the insertion torque was analyzed using 2-way ANOVA, simple linear regression, and the principal component analysis.

Results

The vertical resistance of the Ø2.2-mm pilot drill, the Ø3.5-mm twist drill, and the Ø4.1-mm profile drill had a strong simple linear correlation with the insertion torque of the implants, and the lateral resistance had a moderate linear correlation with the insertion torque. The contributions of these 6 variables to the implant torque, among which the vertical resistance of the twist drill and the pilot drill ranked first and second, were comparable. Adjustments to the strategy of site preparation according to the vertical resistance of the pilot drill achieved appropriate insertion torque (P<.001).

Conclusions

The force feedback of the autonomous dental implant robot was significantly correlated with the insertion torque of implants, which may fit an interpretable mathematical model, allowing dental implants to be placed with predictable primary stability.

Section snippetsMATERIAL AND METHODS

A partially edentulous mandibular model was used for planning a single implant (Ø4.1×10 mm, BLT, RC; Institut Straumann A/S) in the right first molar site. The model was further divided into a major part and a removable part that was used for mounting the specimen blocks to the implant site with die stone. All the models were 3-dimensionally (3D) printed (P10+; Institut Straumann A/S) with a matching resin material (Dental Mold; Leyi New Material Technology).

Five kinds of blocks from teaching

RESULTS

WB1 and PU2 showed the highest and the lowest Young modulus value, respectively, while the other 3 groups showed moderate Young modulus and no statistical difference was detected between them (P>.05) (Fig. 2A). Similarly, after the standard preparation, the insertion torque displayed a trend comparable with that in the Young modulus, except that the torque in PU1 decreased to the level of PU2 and no statistical difference was detected between PU1 and PU2 (P>.05) (Fig. 2B). The correlation

DISCUSSION

The research hypothesis that a linear mathematical relationship existed between the maximal drilling force and the insertion torque was accepted, demonstrating that the approximate prediction of the implant insertion torque simply by using the maximal vertical resistances of the pilot drill was feasible. Two kinds of materials which were common teaching aids designed for implant surgical practice were used as specimens in the current study--wood and polyurethane foam--because a single material

CONCLUSIONS

Based on the findings of this in vitro study, the following conclusions were drawn:

1.

The force feedback of the autonomous dental implant robots could help predict the implant insertion torque after each drilling.

2.

Adjustments of the site preparation strategies according to the force feedback of the pilot drill could help achieve ideal implant primary stability.

Acknowledgments

The authors thank YakeBot for their technical support and instrumental support, Straumann for their offer of implant replicas, and Fang Yu from Zhujiang New Town Dental Clinic for her CAD-CAM supports.

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