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Coverage Planning for Robotic Tooth Preparation in Densely Constrained Environments

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

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 preci

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