Method for controlling a robotic arm for intra-oral imaging

Abstract

A method for controlling a robotic arm having an intra-oral camera, includes a step of controlling the movement of the robotic arm depending on a determined path portion, and a step of capturing images of the oral cavity by the camera, characterized in that the method further comprises a preliminary step of defining a group of intra-oral tissues to be reconstructed, a preliminary step of determining at least one portion of the path of the robotic arm depending on a starting position of the camera and of the group of tissues to be reconstructed, a step of semantically segmenting each pixel of each captured image so as to determine a group of reconstructed tissues, and after each addition of a tissue to the group of reconstructed tissues, a step of determining a new path portion depending on the group of reconstructed tissues and the group of tissues to be reconstructed.