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6Analysis of movements in tooth removal procedures using robot technology101errors (n = 3, 2.4%) and excessive slippage of the forceps (n = 1, 0.8%). In the group of 110 successful experiments, most procedures happened without complications (n=94, 85.5%). In other experiments, data was successfully recorded but minor complications were present of which a fracture of the boney wall was seen most frequently (n=9, 8.2%). Most teeth had sound periodontal (n=60, 54.5%) and restorative states (n=45, 42.7%). For a complete overview of the basic characteristics, see Table 2.Table 2. Base characteristics of experimental material and experiments. mm = millimeter.Base Characteristics Total numberFresh-frozen specimensUpper jaws with teethLower jaws with teeth766Total number of experimentsSuccessful experiments:Without complicationsBoney wall fractureRoot fractureCrown fracture/failure (with root removal)Unsuccessful experiments:Insufficient fixation of jawCrown fracture/failure (without root removal)Robot / software errorsExcessive slippage of the forceps12711094963178531Periodontal state (out of 110 experiments)- healthy (pocket depth <3mm)- recessions- mild periodontitis (pocket depth 3-5mm)- severe periodontitis (pocket depth >5mm)82331612Restorative state (out of 110 experiments)- sound- direct restoration large (≥ 2 surfaces)- indirect restoration- direct restoration small (≤ 2 surfaces)47252018Tom van Riet.indd 101 26-10-2023 11:59