Embodiments are described wherein a system forbrushing teeth of a person comprises a master input device aflexible teeth tray configured to at least partiallyencapsulate one or more of the teeth in a flexible substratematerial, the flexible teeth tray comprising one or morevibratory transducers removably coupled to one or morebrushing panels and a controller operatively coupled to themaster input device and the one or more vibratory transducerswherein subject to an input from the master input device, thecontroller is configured to cause reciprocating brushingmotion of the one or more brushing panels against a surface ofthe one or more encapsulated teeth, to clean the one or moreteeth.
