Method for controlling a robotic arm for intra-oral imaging

A method for controlling a robotic arm comprising a camera configured to capture intra-oral images, the method comprising a step of determining at least one portion of a path of said robotic arm inside an oral cavity, a step of controlling the movement of the robotic arm in the oral cavity depending on said determined path portion, and a step of capturing images of the oral cavity by the camera of the robotic arm, wherein the method further comprises the following steps:

• a preliminary step of defining a group of intra-oral tissues, at least one image of which must be captured by the camera, referred to as the group of 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 among the group of tissues to be reconstructed, 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.