Coverage Planning for Robotic Tooth Preparation in Densely Constrained Environments

2026-08-25

AI Summary

本文提出一种新型机器人系统，通过解剖学意识路径规划算法和面向间隙的末端执行器偏航分配策略，解决在高度受限口腔环境中自动进行牙齿预备的问题。

Abstract

Tooth preparation refers to the controlled removal of tooth structure to create an optimal substrate for fixed restorations and is a core procedure in restorative dentistry. Automating this task is particularly challenging for robots because the dental bur must operate within a densely constrained intraoral workspace, where even sub-millimeter deviations can compromise outcomes or damage adjacent structures. This paper presents a novel robotic system for autonomous full-crown tooth preparation. The proposed framework includes: 1) an anatomy-aware toolpath planning algorithm that conforms precisely to a technician-designed preparation model while protecting adjacent teeth, and 2) a clearance-oriented end-effector yaw assignment strategy that allows intraoral access while reducing the risk of soft-tissue interference. Together, these features enable the robot to accurately mill the irregular tooth surface with an average geometric deviation of 0.117 mm (RMSE), achieving both restoration quality and clinical safety. A series of simulations and phantom-head experiments validate the system's feasibility and effectiveness.

Problem

• Tooth Preparation
• Densely Constrained Environments
• Robotic System

Innovation

• anatomy-aware toolpath planning
• clearance-oriented end-effector yaw assignment
• autonomous full-crown tooth preparation