It was shown in vitro that the tooth surface recognition system is able to function correctly, independent of the lateral forces and the tip angle of the instrument.

It was shown that this method of automatic recognition of tooth surfaces is able to distinguish between different tooth surfaces in vitro independently from tip movements.

The surface detection device was able to clinically differentiate cementum and calculus in vivo. Therefore, this method may support the decision of whether continued subgingival scaling could damage the cementum.

This calculus detection system was able to detect small deposits. In clinical practice, this device may support dentists in deciding whether to stop or to continue the debridement.

The present experimental design allows the in vitro repositioning of an automated dental instrument for the detection of subgingival surfaces on the tooth following an in vitro phantom-head video recording of its intra-oral scanning movements. This method will be used for the verification of in vivo results of a new ultrasound-based surface detection system.