Using robot technology to analyze forces and torques in tooth removal

Abstract

This study aimed to capture both forces and torques exerted during tooth removal in clinically relevant dimensions and high detail. An ex vivo measuring setup was designed consisting of, amongst others, a compliant robot arm and a six-axis force/torque sensor. Fresh-frozen cadavers were used to match the clinical situation as closely as possible. Complete data was successfully recorded in 110 tooth removal experiments. The highest peak force was 99 N. An increase in forces in the dorsal region was objectified in both average and total forces exerted. Extrusion and buccal forces were found to be most dominant in both upper and lower jaw. A strong limitation exists in our scientific understanding of tooth removal procedures. In this study, for the first time, forces and torques are presented in high detail and in all (clinically relevant) dimensions. Despite the limited data size and ex vivo circumstances, the hereby-presented data show a reliable order of magnitude when considering forces in tooth removal and could serve as a benchmark for future research in this field. A better understanding of these procedures could aid in the development of evidence-based and improved educational material.