Automated Dental Drill

An automated dental drill system for performing a dental procedure on a patient, the automated dental drill system comprising:

• a processor;
• an end effector comprising a dental tool configured for disposition at least partially in the patient's mouth and to there perform an operation on a tooth of the patient;
• a tooth clamp configured to releasably rigidly attach to at least one tooth of the patient;
• a drive assembly configured to remain outside the patient's mouth throughout the entire dental procedure, wherein the drive assembly:
• (a) is controlled by the processor and (b) is configured to position the end effector with a first at least three degrees of freedom, relative to the tooth clamp;
• a clamp connector configured to connect the tooth clamp to the drive assembly such that, when the tooth clamp is coupled to the drive assembly and the tooth clamp is attached to the at least one tooth, position and orientation of the drive assembly remain fixed, relative to the at least one tooth;
• a support structure;
• and
• a passive cantilever arm having a second at least three degrees of freedom and being mechanically coupled between the support structure and the drive assembly to support the drive assembly.