Page 83 - Demo

5Using robot technology to analyze forces and torques in tooth removal 81Figure 1: Overview of the setup with a 3D-printed upper jaw in situ. (1) passive robot arm (2) forceps holding device, (3) video camera, (4) upper jaw holding device (the lower jaw holding device not shown in this figure), (5) six-axis force/torque sensor, (6) bolts to change vertical position, (7) bolts to change horizontal position. The holding device for the lower jaw is not displayed.A graphical user interface (GUI) was designed for the registration of metadata, including:- preoperative: tooth number, periodontal health, restorative state, surgeon involved.- perioperative: recorded data is shown live on screen. Landmarks can be added at any given time in case of events such as crown fractures or other complications.- postoperative: quality of the experiment, any complications and a free text field to add any specific remark.Metadata was added to enable to construct a complete database for future use on the one hand and to help to explain certain findings during data-analysis, such as outliers, on the other. Because of the limited number of experiments in combination with the expected variability of the data, at this point, not all of the above-mentioned metadata could be used for in-depth analysis in our result section. Tom van Riet.indd 81 26-10-2023 11:59