密集制約環境下でのロボットによる歯牙形成のカバレッジ計画
Coverage Planning for Robotic Tooth Preparation in Densely Constrained Environments
歯科修復のための自動全冠形成を実現するロボットシステムを提案し、解剖学的認識に基づく工具経路計画とクリアランス重視のエンドエフェクタ姿勢割り当てにより、平均0.117mmの精度で歯牙を削合する。
著者: Yunwen Li, Chen Chen, Xiangjie Yan, Chang Shu, Jianxia Hou, Shiji Song, Xiang Li
分類: cs.RO
原文アブストラクト
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.