Figure 1

Components of the automatic full crown tooth preparation system.

(a) Conceptual schematic diagram of the automatic full crown tooth preparation system. (b) Physical prototype of the robotic device that was used to perform tooth preparation. (c) Physical prototype of the tooth fixture and the connections among the device, tooth fixture and the target tooth. (d) Design of the intraoral automatic tooth preparation system. (e) Diagram of the system’s working principle.