Abstract: Automated devices for detecting and removing dental biofilms are described herein. In some embodiments, the disclosed subject matter includes a device for administering a suspension comprising iron oxide nanoparticles to teeth to chemically treat and mechanically remove dental biofilms. In some embodiments, disclosed subject matter includes a device for administering a suspension comprising iron oxide nanoparticles and hydrogen peroxide to teeth to kill bacteria within a biofilm matrix and degrade the biofilm matrix and assembling the iron oxide nanoparticles into autonomous magnetic bristles or antimicrobial robots to mechanically remove biofilm. Devices and methods for real-time detection of dental plaque and monitoring of removal of dental plaque are also disclosed herein.