The present invention relates to a device for forming a bone recess for implanting an artificial dental root, which comprises: a position detecting unit for detecting three-dimensional image data for an implant procedure site and a position of a handpiece in real time； and a control unit for controlling a manipulator having a plurality of links formed in a dual parallelogram structure, and a handpiece fixture at a front end thereof, a handpiece mounted on the handpiece fixture, and having a drill tip for drilling an implant hole mounted at a front end thereof, a second fixing unit having one end of the manipulator to be axially fixed thereto to allow the manipulator to be rotated forward and backward in accordance with an operation of a forward and backward rotation driving unit, a first fixing unit having a horizontal rotation driving unit for horizontally rotating the second fixing unit to be fixed to a moving body or a fixed structure, and a forward/backward and horizontal rotation driving unit for moving a drill tip to the implant procedure site on the basis of the three-dimensional image data provided by the position detecting unit and pre-input CT image data for the implant procedure site of a patient. The device of the present invention further comprises: a handpiece external force sensing unit including a 6-axial force/torque sensor between the handpiece fixture and an end of the manipulator to sense external force applied to the handpiece, and controlling an operation the handpiece； and a handpiece forward/backward moving means formed to be integrated with the handpiece fixture to adjust a drilling depth of the drill tip fixed to the handpiece by control of the control unit for receiving a signal of the handpiece external force sensing unit.COPYRIGHT KIPO 2020본 발명은 인공치근 이식용 골함요 형성장치에 관한 것으로, 임플란트 시술부위에 대한 입체 영상데이터와 핸드피스의 위치를 실시간 검출하는 위치검출부； 복수개의 링크가 이중 평행사변형 구조로 구성되고 그 선단부에 핸드피스 고정구가 구비되는 매니퓰레이터와, 상기 핸드피스 고정구에 장착되고 그 선단부에 임플란트 홀을 천공하는 드릴팁이 장착되는 핸드피스와, 상기 매니
