Page 85 - Demo

5Using robot technology to analyze forces and torques in tooth removal 83Forces and Torques in tooth removal Results are shown as cumulative forces (Newton-second or ‘impulse’) either along an axis or in a direction (Figure 2). It is important to note that the duration of the experiments are not compensated for in this outcome. To benefit the readability of this article, the results of the average forces and torques, in which time the duration is compensated for, are shown in the appendix (appendix figure A.1, A.2 and A.3).Figure 2: a representative force measurement in the buccolingual axis of an upper second molar. The Area Under the Curve (AUC) of both positive (1+3+5) and negative values (2+4+6) represent the cumulative forces exerted along the buccolingual axis. The positive values (1+3+5) are in buccal direction, the negative values (2+4+6) are in lingual direction. The letters A and B show the peak forces measured in the lingual and buccal directions, respectively.The total amount of cumulative forces exerted during tooth removal along each axis, regardless of its direction, are shown in Figure 3 as an average and standard deviation for each pair of teeth. It shows the averages of the cumulative forces measured during the experiments for each group of teeth. The average of cumulative forces measured during all of the experiments is 420 Ns (SD = 336 Ns) and removal took the surgeon 20.1 seconds (SD = 12.6 sec). The lowest amount of cumulative forces and torques can be found in the upper central incisor group (U1) and measures 150 Ns (SD = 96 Ns). On average, the highest cumulative forces were found in the lower second molars (L7, 1061Ns, SD = 653 Ns) and highest cumulative torques in the upper second molars (U7, 130 Nms, SD = 61 Nms). Tom van Riet.indd 83 26-10-2023 11:59