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

IF 5.8 2区医学 Q1 DENTISTRY, ORAL SURGERY & MEDICINE

Journal of dentistry Pub Date : 2026-04-01 Epub Date: 2026-01-23 DOI:10.1016/j.jdent.2026.106520

Huayu Fang , Heng Liu , Chen Liu , Yuanxue Gao , Shiwei Song , Junchen Wang , Shizhu Bai , Yimin Zhao

{"title":"Development and Evaluation of an Automated Robotic System for Full Crown Preparation","authors":"Huayu Fang , Heng Liu , Chen Liu , Yuanxue Gao , Shiwei Song , Junchen Wang , Shizhu Bai , Yimin Zhao","doi":"10.1016/j.jdent.2026.106520","DOIUrl":null,"url":null,"abstract":"<div><h3>Objectives</h3><div>To develop a robotic system for full crown tooth preparation and to evaluate its preparation accuracy and operation time.</div></div><div><h3>Methods</h3><div>The robotic system comprised a robotic arm, an infrared optical tracking system, and proprietary planning/control software. The planning workflow encompassed path planning for axial and occlusal surfaces, functional cusp bevels, and acute line angles, culminating in the generation of an ideal preparation morphology. Twenty-two standardized partial dentition models of mandibular teeth 35–37 were additively manufactured and equally allocated into two experimental groups based on preparation methodology: an automated robotic system group and a step-by-step guide group. Operation time was recorded concurrently. Post-preparation scan data were imported into three-dimensional reverse engineering software to calculate the root-mean-square-error (RMSE) values for the overall surfaces, axial surfaces, occlusal surfaces, and chamfer regions to evaluate preparation accuracy.</div></div><div><h3>Results</h3><div>In the posterior crown preparation model experiment, the robotic group showed significantly lower RMSE values than the guide group overall and by region: overall, 0.18±0.03 vs 0.33±0.05 mm; axial, 0.15±0.06 vs 0.27±0.08 mm; occlusal, 0.20±0.05 vs 0.38±0.07 mm; chamfer, 0.12±0.03 vs 0.30±0.07 mm. The occlusal surface yielded the lowest accuracy in both groups. The robotic system also significantly reduced preparation time (350.15±7.79 s vs. 583.93±90.48 s), confirming its efficiency advantage.</div></div><div><h3>Conclusions</h3><div>This study developed an automated robotic system for crown preparation that demonstrated superior accuracy and shorter operation time compared with the guide approach.</div></div><div><h3>Clinical significance</h3><div>In this study, we developed a novel robotic system for full crown preparation that may enable precise and efficient procedures, representing a promising approach for achieving high-accuracy tooth preparation while minimizing tissue removal.</div></div>","PeriodicalId":15585,"journal":{"name":"Journal of dentistry","volume":"167 ","pages":"Article 106520"},"PeriodicalIF":5.8000,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of dentistry","FirstCategoryId":"3","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0300571226001934","RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2026/1/23 0:00:00","PubModel":"Epub","JCR":"Q1","JCRName":"DENTISTRY, ORAL SURGERY & MEDICINE","Score":null,"Total":0}

引用次数: 0

Abstract

Objectives

To develop a robotic system for full crown tooth preparation and to evaluate its preparation accuracy and operation time.

Methods

The robotic system comprised a robotic arm, an infrared optical tracking system, and proprietary planning/control software. The planning workflow encompassed path planning for axial and occlusal surfaces, functional cusp bevels, and acute line angles, culminating in the generation of an ideal preparation morphology. Twenty-two standardized partial dentition models of mandibular teeth 35–37 were additively manufactured and equally allocated into two experimental groups based on preparation methodology: an automated robotic system group and a step-by-step guide group. Operation time was recorded concurrently. Post-preparation scan data were imported into three-dimensional reverse engineering software to calculate the root-mean-square-error (RMSE) values for the overall surfaces, axial surfaces, occlusal surfaces, and chamfer regions to evaluate preparation accuracy.

Results

In the posterior crown preparation model experiment, the robotic group showed significantly lower RMSE values than the guide group overall and by region: overall, 0.18±0.03 vs 0.33±0.05 mm; axial, 0.15±0.06 vs 0.27±0.08 mm; occlusal, 0.20±0.05 vs 0.38±0.07 mm; chamfer, 0.12±0.03 vs 0.30±0.07 mm. The occlusal surface yielded the lowest accuracy in both groups. The robotic system also significantly reduced preparation time (350.15±7.79 s vs. 583.93±90.48 s), confirming its efficiency advantage.

Conclusions

This study developed an automated robotic system for crown preparation that demonstrated superior accuracy and shorter operation time compared with the guide approach.

Clinical significance

In this study, we developed a novel robotic system for full crown preparation that may enable precise and efficient procedures, representing a promising approach for achieving high-accuracy tooth preparation while minimizing tissue removal.

查看原文本刊更多论文

全冠预备自动化机器人系统的研制与评价。

目的：研制全冠预备机器人系统，并对其预备精度和操作时间进行评价。方法：机器人系统由机械臂、红外光学跟踪系统和专有的规划/控制软件组成。规划工作流程包括轴面和咬合面、功能尖端斜面和锐角线的路径规划，最终形成理想的制备形态。将22个标准化的35 ~ 37下颌牙列模型按制备方法平均分为两个实验组：自动机器人系统组和分步指导组。同时记录操作时间。将制备后的扫描数据导入三维逆向工程软件，计算整体面、轴向面、咬合面和倒角区域的均方根误差（RMSE）值，评估制备精度。结果：在后牙冠预备模型实验中，机器人组整体和区域RMSE值均显著低于引导组：总体为0.18±0.03 vs 0.33±0.05 mm；轴向，0.15±0.06 vs 0.27±0.08 mm；咬合：0.20±0.05 vs 0.38±0.07 mm；倒角，0.12±0.03 vs 0.30±0.07 mm。两组的咬合面精度最低。机器人系统还显著缩短了制备时间（350.15±7.79 s vs. 583.93±90.48 s），证实了其效率优势。结论：本研究开发了一种自动化的机器人系统用于冠预备，与引导方法相比，该系统具有更高的准确性和更短的操作时间。临床意义：在本研究中，我们开发了一种新的全冠准备机器人系统，可以实现精确和高效的程序，代表了一种有希望实现高精度牙齿准备同时最大限度地减少组织去除的方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Journal of dentistry 医学-牙科与口腔外科

CiteScore

7.30

自引率

11.40%

发文量

349

审稿时长

35 days

期刊介绍： The Journal of Dentistry has an open access mirror journal The Journal of Dentistry: X, sharing the same aims and scope, editorial team, submission system and rigorous peer review. The Journal of Dentistry is the leading international dental journal within the field of Restorative Dentistry. Placing an emphasis on publishing novel and high-quality research papers, the Journal aims to influence the practice of dentistry at clinician, research, industry and policy-maker level on an international basis. Topics covered include the management of dental disease, periodontology, endodontology, operative dentistry, fixed and removable prosthodontics, dental biomaterials science, long-term clinical trials including epidemiology and oral health, technology transfer of new scientific instrumentation or procedures, as well as clinically relevant oral biology and translational research. The Journal of Dentistry will publish original scientific research papers including short communications. It is also interested in publishing review articles and leaders in themed areas which will be linked to new scientific research. Conference proceedings are also welcome and expressions of interest should be communicated to the Editor.