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.

翻译：机器人技术因其在精细牙科手术中所需的高精度而日益受到欢迎。现有的大多数牙科机器人专为种植手术设计，帮助牙医在期望位置和深度精确植入种植体。本文介绍了DentiBot——首款专为牙科根管治疗设计的机器人。DentiBot配备了力和扭矩传感器，以及基于细绳的患者追踪模块，可实时监测根管器械接触力和患者移动。我们提出了一种六自由度混合位置/力控制器，能够自主调整手术路径并补偿患者移动，同时提供防止根管器械断裂的保护。此外，还集成了器械柔性模型以补偿器械弯曲。在丙烯酸根管模型和树脂牙齿上进行的临床前评估证实了DentiBot辅助根管治疗的可行性。