发表机构
Tsinghua University; ETH Zürich; Tsingscribe Medical Ltd.; Peking University School and Hospital of Stomatology; Beijing National Research Center for Information Science and Technology（清华大学; 苏黎世联邦理工学院; 清scribe医疗有限公司; 北京大学口腔医学院; 北京信息科学与技术国家研究中心）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种用于自主全冠牙齿预备的机器人系统，通过感知解剖结构的刀具路径规划算法和面向间隙的末端执行器偏航角分配策略，实现精准牙面铣削，平均几何偏差0.117mm，经仿真和头模实验验证其可行性与有效性。
AI 中文摘要
牙齿预备是指有控制地去除牙体组织，为固定修复体创建最佳基底，是修复牙科的核心操作。该任务自动化对机器人而言极具挑战性，因为牙科钻必须在口腔内密集受限的工作空间内操作，即使亚毫米级的偏差也可能损害修复效果或损伤相邻结构。本文提出一种用于自主全冠牙齿预备的新型机器人系统，该框架包含两部分：1）感知解剖结构的刀具路径规划算法，其能精确贴合技师设计的预备模型，同时保护相邻牙齿；2）面向间隙的末端执行器偏航角分配策略，可实现口腔内通路，降低软组织干扰风险。这些特性共同使机器人能精确铣削不规则牙面，平均几何偏差为0.117mm（RMSE），兼顾修复质量与临床安全性。一系列仿真及头模实验验证了该系统的可行性与有效性。
英文摘要
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.
