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4Robot technology in analyzing tooth removal, a proof of concept67Graphical User InterfaceTo improve the workflow during the experiments, a Graphical User Interface (GUI) is designed as a platform where all components of the setup as well as the experiments can be managed simultaneously. The GUI allows meta-information to be added to the experiments. It consists of a pre-operative, perioperative and post-operative window in which data are shown and can be edited, if necessary. In the pre-operative screen, clinical data such as periodontal or restorative state can be filed. To optimize the flow of the experiments, predefined joint positions are determined in which most relevant joints are in their neutral status (Section II-C). These predefined starting positions are different for upper and lower jaw because of their different positions relative to the robot. They can be requested and executed from within the preoperative part of the GUI. During the experiments, the GUI shows graphical information on actual measurements to enable live monitoring of the experiment. A summary of the experiment is shown and certain ‘events’ can be added to the experiment in the postoperative section. As an example, a marking can be added at a point in time where a complication has happened. The postoperative part also offers the opportunity to trim non-useful data, for example the time between the tooth being removed and the moment where the experiment is actually stopped in the GUI (usually a few seconds later). The experiments took place in an in-hospital anatomy laboratory. Samples were obtained through the body donation program from the Department of Medical Biology, Section Clinical Anatomy and Embryology, of the Amsterdam UMC at the location Academic Medical Center in The Netherlands. The bodies from which the samples were taken were donated to science in accordance with Dutch legislation and the regulations of the medical ethical committee of the Amsterdam UMC at the location Academic Medical Center. The setup was tested with experiments on both conserved and fresh frozen cadaver jaws. A band saw was used to reduce the cadaver heads to the proportions as necessary to fit the holding devices. For the lower jaw, this meant an oblique 45-degree bone cut from the gonial angle of the mandible towards the retromolar area. For the upper jaw, a horizontal cut starting at the level of the infra-orbital rim was made. The cut was continued dorsally to the level of the articular tubercle and then connected to the oropharynx. See Fig. 5a and 5b. Soft tissue was largely removed by using standard surgical blades. Care was taken not to remove any of the attached gingiva, as periodontal health was one of clinical parameters. As dental notation system, the ISO system is used (International Standards Organization number 3950, Fédération Dentaire International). Tom van Riet.indd 67 26-10-2023 11:59