Autonomous Dental Surgery for Root Canal Treatment: Compensating for Robot-Patient Misalignment and File Deflection (I)

Abstract

Robotic technologies are increasingly used in dentistry for their precision in delicate procedures. While most dental robots focus on implant surgery, automating root canal treatment (RCT) remains challenging due to the need to guide a thin, flexible endodontic file through a narrow, curved root canal without causing ledging or file fracture. Patient movements—particularly those that induce additional file bending during insertion—further complicate robot-assisted procedures. This study presents an autonomous approach for root canal cleaning and shaping by combining force admittance and position tracking. A novel Patient Tracking Module, which connects the patient’s dental brace to the robot end-effector via string potentiometers, is developed to estimate real-time robot-patient pose. Additionally, a file flexibility model is proposed to predict and compensate for file deflection during insertion. A hybrid position/force control strategy, which integrates these estimations, autonomously guides file manipulation, minimizes misalignment, and therefore reduces the risk of file fracture. Experimental validation demonstrates the system’s feasibility and potential for clinical application in precision endodontic procedures.