Novel methods of synthesis of known and novel 14-hydroxyl opiates through 1-halothebaine and derivatives are described. Accordingly, the torque command exhibits a waveform absent of variation, differing from a torque command that is generated by adding damping torque generated based on revolution count variation component with the target drive torque. Gingival tissue surrounding the PSTP is permitted to heal in the mouth of the patient. The end part of the extension shaft, at the opposite end to the body section sealed inlet, is designed to house a coupling and locking device or attachment for a cleaning appliance.