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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.
Dental floss has a history that his maybe longer than of the toothbrush but we know for sure that it is in use since the 19th century. It is in the wider use since the invention of synthetic materials like nylon.
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.
Toothpaste is one of the main ingredients in the process of keeping the teeth healthy. In combination with toothbrush it removes dental plaque and food that remains on the teeth after eating. Read more about history of toothpaste.