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This paper presents the refinement and optimization of three-dimensional (3D) dental implants with the complex root shapes of natural teeth. These root shapes are too complex to be drilled manually like current commercial implants and so are designed to be conducive to robotic drilling utilizing milling algorithms. Due to the existence of sharp curvatures and undercuts, anatomically correct models must be refined for 3D robotic milling and these refined shapes must be shown to be optimized for load bearing. Refinement of the anatomically-correct natural tooth-shaped models for robotic milling was accomplished using Computer-Aided-Design (CAD) tools for smoothing the sharp curvatures and undercuts. The load bearing optimization algorithm is based on the Soft-Kill Option (SKO) method, and the geometries are represented using non-uniform rational B-spline (NURBS) curves and surfaces. Based on these methods, we present optimized single and double root-shaped dental implants for use with robotic site p...

Designing Natural-Tooth-Shaped Dental Implants based on Soft-Kill Option Optimization