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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.
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 the ancient times, we try to keep our mouth and teeth clean. Until we found out how bacteria work, we used some pretty unsanitary methods for that but in time we learned and today our hygiene standards are pretty high. Read more about history of oral hygiene.