We introduce a method to apply a preoperative 3D plan for inserting dental implants with an assisting medical robot. The treatment plan is based on the 3D visualization of the CT data of the patient’s maxilla and mandible, and supplies the location of the implants in the patient.s coordinates. The plan is then transferred to the surgical robot’s coordinate system. The robot guides the tool, a drill guide. Position, orientation, and depth of the initial drilling is defined with the tool held by the robot while the surgeon drills. The robot assists the dentist, and the optimal treatment plan will be applied directly to the patient.