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4Robot technology in analyzing tooth removal, a proof of concept61prevents the need for markers and it avoids visibility issues of the tracking system during these ‘key hole’ surgical procedures.An overview of the measurement setupThe measurement setup, see Fig. 1, consists of:- a holding device for the upper- and lower jaw in an adjustable frame (Section II-C)- 7 dental forceps (Section II-C)- a six-axis force/torque (FT-) sensor (Section II-D)- a compliant robot arm (Section II-D)- a video camera (Section II-D)- the Robot Operating System (ROS) (Section II-D)- a graphical user interface (GUI) (Section II-E) Fig. 1: Overview of the setup. (1) robot arm, (2) forceps holding device, (3) video camera, (4) upper jaw holding device, (5) force torque sensor, (6) bolts to adjust frame vertically, (7) bolts to adjust frame horizontallyTom van Riet.indd 61 26-10-2023 11:59