Disclosed is a tooth scaling method for removing calculus, and the tooth scaling method may comprise the steps of: sensing a parameter difference between a scaler tip and a suction tip or a parameter change of each of the scaler tip and the suction tip using a sensor unit determining whether the parameter difference or each of the parameters changes within a reference range, which appears when the scaler tip contacts a tooth and the suction tip is positioned inside the oral cavity, or not and activating the scaler tip and the suction tip when the parameter difference or each of the parameters is included in the reference range.
