A method for manufacturing a removable dental prosthesis using a three-dimensional (3D) printer includes receiving dental impressions of a patient obtained using a dental impression tray assembly, the dental impressions including a bite registration and at least a mandibular impression or a maxillary impression； receiving information related to the patient's jaw relations obtained using the dental impression tray assembly, the jaw relations including a vertical dimension and a centric relation obtained during the patient's single visit to a dentist； scanning the received dental impressions with a 3D scanner to provide data representative of an edentulous shape of the patient； generating a 3D model of the dental prosthesis based on the data and the received information related to the patient's jaw relations using 3D design software； displaying the generated 3D model on a display, allowing customization of the 3D model； and 3D printing the dental prosthesis according to the 3D model.
