The invention provides a multi-mode cooperative control method and
system for an
oral surgery robot, and belongs to the technical field of medical robots. The method comprises the steps that
operation planning and space registration are completed, and a
drill bit and an
optical tracking ball are rigidly fixed to the
tail end of a mechanical arm; a manual mode is started for coarse positioning, the mechanical arm is dragged, the optical navigator tracks the
pose in real time and visualizes deviation, and the mechanical arm provides force assistance; after the
drill bit reaches the preset range of the target area, the
drill bit is switched to an automatic mode, and fine adjustment is completed through hand-eye calibration,
probe calibration and closed-
loop control; then switching to a cooperation mode, locking a preset direction dimension by the mechanical arm, controlling the implantation depth, and ensuring that a motion path is stable by the
central processing unit through a dynamic
constraint algorithm; and after the
drill bit reaches the planned depth, the mechanical arm locks the
depth direction, and the cooperation mode ends. According to the invention, the problems of insufficient precision and poor flexibility of the traditional technology are solved, and the positioning precision, the
operation safety and the clinical execution efficiency of the
oral surgery are improved.