机器人自动补牙时，能精准避开邻牙和软组织，误差仅0.117毫米。
Coverage Planning for Robotic Tooth Preparation in Densely Constrained Environments
- 根据牙体模型生成贴合的切割路径，保护邻牙不受损
- 通过调整工具头角度，确保在狭小口腔内顺利操作
- 适合临床牙科自动化场景，兼顾精度与安全
牙体预备是修复牙科中为固定修复体创建理想基底的核心步骤。由于口腔内空间高度受限，机器人执行该任务极具挑战性——即使是亚毫米级偏差也可能影响修复效果或损伤邻近结构。本文提出一种新型机器人系统，实现全冠牙体预备的自主化。框架包含：1）基于解剖结构的刀具路径规划算法，精确遵循技师设计的预备模型，同时保护邻牙；2）面向避障的末端执行器偏航分配策略，提升口腔内可达性并降低软组织干扰风险。实验结果显示，该系统在不规则牙面铣削中平均几何偏差仅为0.117毫米（RMSE），兼具修复质量与临床安全性。仿真与假头实验验证了系统的可行性与有效性。
原文摘要 · Abstract (English)
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.
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