机器人辅助牙种植窝洞制备的新型钻铣技术： 仿真和离体动物骨骼实验验证研究

李超凡; 程康杰; 於辰浩; Russell WANG; 朱赴东; 刘云峰

doi:10.1631/jzus.B2400560

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机器人辅助牙种植窝洞制备的新型钻铣技术：仿真和离体动物骨骼实验验证研究

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Research Article | Updated：2026-08-13

机器人辅助牙种植窝洞制备的新型钻铣技术：仿真和离体动物骨骼实验验证研究
A novel drill-milling technology for robot-assisted implant osteotomy preparation: simulation and an ex vivo validation study
浙江大学学报（英文版）（B辑：生物医学和生物技术） 2026年27卷第8期页码：906-917
Affiliations：

1.College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
2.Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023, China
3.Collaborative Innovation Center of High-end Laser Manufacturing Equipment (National “2011 Plan”), Zhejiang University of Technology, Hangzhou 310023, China
4.Department of Comprehensive Care, Case Western Reserve University School of Dental Medicine, Cleveland 44106-4905, USA
5.Stomatology Hospital, School of Medicine, Zhejiang University, Hangzhou 310006, China
Funds：

the Zhejiang Provincial Natural Science Foundation of China(LZ26E050008;LQ23E050016);the National Natural Science Foundation of China(52175280;52305326);the 111 Project(D16004)
DOI：10.1631/jzus.B2400560
中图分类号：
CSTR：
收稿：2024-11-05，

修回：2025-05-18，

网络首发：2026-08-13，

纸质出版：2026-08-13
Accepted：

李超凡,程康杰,於辰浩等.机器人辅助牙种植窝洞制备的新型钻铣技术：仿真和离体动物骨骼实验验证研究[J].浙江大学学报（英文版）（B辑：生物医学和生物技术）,2026,27(08):906-917.

Chaofan LI, Kangjie CHENG, Chenhao YU, et al. A novel drill-milling technology for robot-assisted implant osteotomy preparation: simulation and an ex vivo validation study[J]. Journal of Zhejiang University-SCIENCE B, 2026, 27(8): 906-917. DOI: 10.1631/jzus.B2400560.
李超凡,程康杰,於辰浩等.机器人辅助牙种植窝洞制备的新型钻铣技术：仿真和离体动物骨骼实验验证研究[J].浙江大学学报（英文版）（B辑：生物医学和生物技术）,2026,27(08):906-917. DOI： 10.1631/jzus.B2400560.

Chaofan LI, Kangjie CHENG, Chenhao YU, et al. A novel drill-milling technology for robot-assisted implant osteotomy preparation: simulation and an ex vivo validation study[J]. Journal of Zhejiang University-SCIENCE B, 2026, 27(8): 906-917. DOI: 10.1631/jzus.B2400560. DOI：

摘要

在牙种植窝制备过程中，钻头与骨组织界面产生的过多摩擦热会损害骨愈合，进而导致种植体失败。本研究旨在使用机器人螺旋铣削技术进行牙种植窝的制备，以减轻对骨组织的热损伤。通过有限元分析，比较了传统麻花钻和新型螺旋铣所产生的热分布和切削应力，并利用机器人辅助铣削系统在动物骨骼上进行了离体实验验证。仿真结果显示，螺旋铣产生的最大切削应力为128.9 MPa，高于麻花钻产生的121.0 MPa，表明切削效率有所提高。离体骨骼实验进一步表明，螺旋铣削技术将制孔部位温度保持在38.7 ℃以下，远低于临床临界阈值47 ℃及麻花钻记录的61 ℃。此外，螺旋铣削过程有助于排出骨屑，从而减少热量积聚。研究结果表明，螺旋铣削技术优化了机器人辅助备孔过程，有效减轻了刀具-骨组织界面的摩擦热产生。该项创新技术在提高牙种植体骨结合成功率方面展现出潜在优势，为牙种植领域长期存在的一些挑战提供了具有临床可行性的解决方案。

Abstract

Objective

Excessive frictional heat generated at the drill–bone interface during implant osteotomy can compromise osseointegration and lead to implant failure. This study’s objective was to use a helical milling technique for dental implant osteotomy preparation to mitigate thermal damage to the bone.

Methods

This study introduces a novel helical milling technique designed to minimize thermal damage to bone during dental implant osteotomy preparations. Finite element simulations were conducted to compare the thermal distribution and cutting stress of a conventional twist drill and the newly designed helical drill. The experimental validation was performed ex vivo on animal bone using a robot-assisted osteotomy system.

Results

The finite element simulations revealed that the helical drill produced a maximum cutting stress of 128.9 MPa

higher than the 121.0 MPa generated by the twist drill

indicating improved cutting efficiency. The ex vivo study demonstrated that the helical milling technique maintained the drilling site temperature below 38.7 ℃

which was significantly lower than the clinically critical threshold of 47 ℃ and the 61 ℃ recorded with the twist drill. Furthermore

the helical milling process facilitated efficient bone chip removal

reducing thermal buildup.

Conclusions

These findings suggest that the helical milling tool and technique optimize robot-assisted osteotomy and effectively mitigate frictional heat generation at the drill–bone interface. This innovation holds promise for enhancing osseointegration success rates in dental implant procedures

offering a clinically viable solution to a long-standing challenge in implantology.

关键词

Keywords

references

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