Embodiments are described wherein a system for brushing the teeth of a person comprises a master input device a flexible teeth tray configured to at least partially encapsulate one or more of the teeth in a flexible substrate material, the flexible teeth tray comprising one or more vibratory transducers removably coupled to one or more brushing panels and a controller operatively coupled to the master input device and the one or more vibratory transducers wherein subject to an input from the master input device, the controller is configured to cause reciprocating brushing motion of the one or more brushing panels against a surface of the one or more encapsulated teeth, to clean the one or more teeth.
