Trajectory tracking control method of robotic intra-oral treatment

At present, people suffer from a high rate of cross-infection of oral diseases, and it is an urgent clinical need to explore effective methods to promote high-security and high-quality imaging. This paper proposes a collaborative robot control strategy that assists in oral diagnosis and treatment. This method can track the dynamic movement of the patient's upper and lower jaw during treatment. According to the small space of the oral cavity and the change of the tooth position, dynamic trajectory tracking with adaptive control is performed on the robotic arm. This control strategy is of great significance for accurate oral diagnosis and treatment and reducing cross-infection between doctors and patients.