Mixed Reality and Haptic–Based Dental Simulator for Tooth Preparation: Research, Development, and Preliminary Evaluation

Yaning Li   ^{1, 2, 3 *} , BDS ;   Hongqiang Ye   ^{1, 2, 3 *} , DDS, PhD ;   Siyu Wu   ^{1, 2} , BDS ;   Xiaohan Zhao   ⁴ , ME ;   Yunsong Liu   ^{1, 2} , DDS, PhD ;   Longwei Lv   ^{1, 2} , DDS, PhD ;   Ping Zhang   ^{1, 2} , PhD ;   Xiao Zhang   ^{1, 2} , DDS, PhD ;   Yongsheng Zhou   ^{1, 2} , DDS, PhD

¹ Department of Prosthodontics, Peking University School and Hospital of Stomatology, National Center of Stomatology, National Clinical Research Center for Oral Diseases, National Engineering Research Center of Oral Biomaterials and Digital Medical Devices, Beijing, China

² Beijing Key Laboratory of Digital Stomatology, Beijing, China

³ National Health Commission Research Center of Engineering and Technology for Computerized Dentistry, Bejing, China

⁴ The State Key Laboratory of Virtual Reality Technology and Systems, School of Computer Science and Engineering, Beihang University, Beijing, China

*these authors contributed equally