(PR114) Robot-Assisted Haptic Guidance in Endodontics: A Pilot Study

Introduction: A robot-assisted haptic guidance system (RA) was recently introduced to assist with implant placement. In contrast to dynamic guidance systems it utilizes haptic resistance to keep the operator on a predetermined path. We hypothesized that the RA access preparation would decrease the operating time and minimize the volume of tooth structure removal. We examined the effectiveness and precision of the RA approach to the freehand (FH) approach in three endodontic treatment modalities: (A) accessing calcified canals, (B) removing fiber posts, and (C) performing endodontic microsurgery in vitro.

Methods: Extracted teeth in each treatment modality were divided into three groups: the RA group by a resident; the FH group by the same resident; and the FH group by an experienced endodontist. The effectiveness was assessed by the length of time to reach the end point for each treatment modality. The precision was assessed by the amount of the structure removed on CBCT images of the respective treatment. One-way ANOVA and Kruskal-Wallis were used to determine the differences between the RA and the FH approaches in time, volume removal, and the bevel angle of the resected root surface.

Results: Compared to the FH approach by the residents, RA significantly reduced time and volume removal in three treatment modalities. The RA approach also significantly reduced the bevel angle after root-end resection.

Conclusions: The haptic guidance approach provided promising results in efficiency and precision in performing challenging endodontic treatment modalities.