  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.
