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Except with dentures, missing teeth can be replaced with dental implants. People made and used dental implants since some 4000 years ago, using bamboo pegs and seashells instead of missing teeth.
Forms of cosmetic dentistry existed since the ancient times and since people found out that they can use other materials to replace missing teeth or that they can make them white again. Today it is an important branch of dentistry.
Since ancient times we had problems with crooked teeth. They interfered with proper eating and were not too aesthetically pleasing. Because of that, we tried to invent mechanical aids that helped us to fix them. Read about history of orthodontics.
Dentures are old invention and although they were crude in the beginning, people wore them rather than to eat without them. At first they were made from materials from nature but in time we started making them from synthetic materials which made them better. Read more about history of dentures.