Development and Evaluation of an Automated Robotic System for Full Crown Preparation

Area of Science:

• Robotics in Dentistry
• Computer-Aided Manufacturing
• Dental Prosthodontics

Background:

• Traditional full crown tooth preparation relies on manual techniques, which can be technique-sensitive and variable.
• Achieving consistent accuracy and efficiency in tooth preparation is crucial for successful prosthetic outcomes.
• Robotic systems offer potential for enhanced precision and automation in dental procedures.

Purpose of the Study:

• To develop and evaluate an automated robotic system for full crown tooth preparation.
• To assess the preparation accuracy of the robotic system compared to a manual guide.
• To measure and compare the operation time required for robotic versus guide-based preparation.

Main Methods:

• A robotic system was developed, integrating a robotic arm, optical tracking, and specialized software for path planning.
• Twenty-two dental models were prepared using either the automated robotic system or a step-by-step guide.
• Preparation accuracy was quantified using root-mean-square-error (RMSE) analysis, and operation times were recorded.

Main Results:

• The robotic system demonstrated significantly lower RMSE values across all measured surfaces (overall, axial, occlusal, chamfer) compared to the guide group.
• The robotic preparation group exhibited a mean RMSE of 0.18±0.03 mm, while the guide group showed 0.33±0.05 mm.
• The robotic system significantly reduced preparation time, averaging 350.15±7.79 seconds versus 583.93±90.48 seconds for the guide group.

Conclusions:

• The developed automated robotic system achieved superior preparation accuracy compared to the conventional guide approach.
• The robotic system significantly decreased the time required for full crown tooth preparation, highlighting its efficiency.
• This novel robotic system represents a promising advancement for precise, efficient, and minimally invasive tooth preparation in dentistry.