Digital Interactive Design and Robot-Assisted Preparation Experiment of Tooth Veneer Preparation: An in Vitro Proof-of-Concept

In the fixed prosthesis process dental treatment, dentist needs to conceive morphology of tooth preparation and make numerous micro-adjustments by manual operation. This study aims establish a digital design system for accurate designing veneer trajectory planning robot-assisted preparation. According standard operation requirements, projection line segmentation method based on point drawing is proposed interactive selection ensure margin smoothness area. The depth parameterized, foldback correction secondary used repairing offset area surface smoothness. fenestration model was obtained in software. divided into two feature areas which are interpolated B-spline curve NURBS surface, respectively. isoparametric plan trajectory. experimental theoretical values target points from X, Y Z coordinate directions were also calculated analyzed. experiment carried out physical prototype robot. maximum error 0.180 mm, 0.104 mm 0.142 directions, confidence interval stable within 0.30 mm. verifies feasibility correctness could have potential assist dentists precise preparation, improve processing efficiency effect prosthesis.