Dental caries is a common disease affecting the health of humans. Tooth preparation is an essential method for the treatment of dental caries, and its effect determines the quality of dental caries restoration directly. At present, the doctor-patient ratio of dentistry is incredibly unbalanced, and it is challenging to meet the increasing demand for tooth preparation. Besides, it is prone to produce visual deviation and positioning error if the tooth preparation is operated manually by doctors. This paper focuses on the adjacent surface tooth preparation of the full crown. By analyzing the preparation process, the robot body as well as the end-effector are selected. Further, the pose and position between the robot and the tooth are established. Through the inverse calculation and interpolation of the NURBS curve, the robot-assisted trajectory planning of adjacent surface tooth preparation is realized. On the basis of the traditional offline programming method, mobile App “Dental Preparation Assisting Software” is developed based on augmented reality, which can interactively display the planned adjacent preparation curves and preparation information. And the robot can be controlled by the mobile App, which improves the visualization and efficiency of the preparation process. Finally, the experimental system based on the Dobot Magician robot is established, and the robot experiments of adjacent surface tooth preparation are carried out. The maximum relative fixed-point error of each feature point in the XYZ axis is 0.24 mm, 0.29 mm and 0.37 mm, respectively. The confidence interval width of each feature point in the XYZ direction is stable at about 0.31 mm on average, and the correlation between the feature points in the three directional variables is not strong. The proposed method of robot-assisted trajectory planning based on augmented reality for adjacent surface tooth preparation can improve the efficiency of tooth preparation and relieve the pressure of manual tooth preparation within the margin of error, and its feasibility and validity are verified.

龋齿是影响人类健康的常见疾病。牙齿准备是治疗龋齿必不可少的方法，其效果直接决定了龋齿修复的质量。目前，牙科的医患比例非常不平衡，要满足对牙齿准备的日益增长的需求是具有挑战性的。此外，如果由医生手动操作牙齿准备，则容易产生视觉偏差和定位误差。本文重点研究全冠的相邻表面牙准备。通过分析准备过程，选择机器人主体以及末端执行器。此外，建立了机器人和牙齿之间的姿势和位置。通过NURBS曲线的逆计算和插值，实现了机器人辅助下牙面准备的轨迹规划。在传统的离线编程方法的基础上，基于增强现实技术开发了移动应用程序“牙科准备辅助软件”，可以交互显示计划中的相邻准备曲线和准备信息。机器人可以通过移动应用程序进行控制，从而提高了准备过程的可视化和效率。最后，建立了基于Dobot Magician机器人的实验系统，并进行了相邻牙表面预备的机器人实验。XYZ轴上每个特征点的最大相对固定点误差分别为0.24 mm，0.29 mm和0.37 mm。每个特征点在XYZ方向上的置信区间宽度稳定在大约0。平均31 mm，并且三个方向变量中特征点之间的相关性不强。提出的基于增强现实的相邻表面牙齿制备机器人辅助轨迹规划方法可以提高牙齿制备效率，并在误差范围内减轻手工牙齿制备的压力，并验证了其可行性和有效性。