Malocclusion is currently the most common oral disease. Fixed appliance technology is the effective treatment method for malocclusion, and the key step of fixed appliance technology is the accurate bending of orthodontic archwire. A robot with precise position and posture control ability can realize the bending of orthodontic archwire. And the formed accuracy of orthodontic archwire with robotic bending depends on formed control point planning of orthodontic archwire. Based on the segment orthodontic archwire mathematical model, the finite point extension method is presented to realize the formed control point position planning of orthodontic archwire. The position planning strategy of formed control point of orthodontic archwire is studied. On the basis of the position planning experiments of formed control point of orthodontic archwire, the influence of arcchord difference value on control points number and area error, and the control points number on area error with different arcchord formed area are analyzed. Aiming to the oral parameters of patients, the bending experiments of orthodontic archwire are conducted by using the orthodontic archwire bending robot system. The experimental results verify the effectiveness of the position and angle planning strategy of formed control point of orthodontic archwire.