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.　©　Published　under　licence　by　IOP　Publishing　Ltd.