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Chapter 6106elevator correctly, but small deviations are inevitable as a significant part of the teeth is not visible in this phase and minor misjudgments might occur. Improvements to the calibration step, for example using imaging data and single registration of the jaw instead of individual teeth are necessary in future projects. The outcomes of this study should be carefully interpreted. Mainly, because it is unknown in what way fresh-frozen cadavers relate to the clinical situation and because of the small data sample. We aimed for 100 successfully recorded procedures to enable a first and representative analysis. It can be concluded that our results should be regarded as a first presentation of the right order of magnitude when considering movements and velocities in tooth removal. A confirmation of the data in a larger sample is necessary. Some disadvantages of the setup should be discussed. To minimize any restrictions of the robot arm in terms of movement, besides compensation for gravity, an optimal starting position for upper and lower jaw was determined in which the joints were least likely to reach a ‘joint limit’. When a ‘joint limit’ of the robot is reached, it needs to move other joints to facilitate further movement in a specific direction. This could deliver some resistance, which might prevent the surgeon moving in a specific direction and therefore influencing the movement pattern. With the use of predefined optimal starting positions, these restricted movements were prevented as much as possible, but a minimal effect might be present. Despite this issue, feedback from the surgeons was positive regarding the clinical representativeness of their removal strategies. Another disadvantage is the use of dental forceps over elevators, which are frequently used in clinics. Due to the constantly changing position relative to the tooth, the use of elevators was excluded from this study. Future work should focus on improving the measurement setup first, especially regarding the calibration step, which can be considered as cumbersome and potentially lead to calibration errors. This could be overcome by the use of registration of image data, obtained prior to the experiments (CT-imaging). After that, the database should be extended to evaluate in which manner clinical features influence tooth removal strategies. Preferably this data is gathered in an in vivo research setting, but this is considered very challenging [9]. The data gathered in this and future work can be used to improve dental education in tooth removal in an evidence-based manner [17]. Tom van Riet.indd 106 26-10-2023 11:59