DentiBot: System Design and 6-DoF Hybrid Position/Force Control for Robot-Assisted Endodontic Treatment

TL;DR

The paper introduces DentiBot, a specialized dental robot with advanced control and monitoring features, designed to improve precision and safety in endodontic procedures through real-time adjustments and patient tracking.

Contribution

It presents the first robot specifically for dental endodontics, featuring a hybrid position/force controller, real-time patient and file monitoring, and a file flexibility model for enhanced safety and accuracy.

Findings

Successful pre-clinical tests on acrylic and resin models.

Demonstrated autonomous path adjustment and patient movement compensation.

Confirmed feasibility for assisting endodontic treatment.

Abstract

Robotic technologies are becoming increasingly popular in dentistry due to the high level of precision required in delicate dental procedures. Most dental robots available today are designed for implant surgery, helping dentists to accurately place implants in the desired position and depth. In this paper, we introduce the DentiBot, the first robot specifically designed for dental endodontic treatment. The DentiBot is equipped with a force and torque sensor, as well as a string-based Patient Tracking Module, allowing for real-time monitoring of endodontic file contact and patient movement. We propose a 6-DoF hybrid position/force controller that enables autonomous adjustment of the surgical path and compensation for patient movement, while also providing protection against endodontic file fracture. In addition, a file flexibility model is incorporated to compensate for file bending. Pre-clinical evaluations performed on acrylic root canal models and resin teeth confirm the feasibility of the DentiBot in assisting endodontic treatment.