CI controller url permalink – SEO

i’ve got a project in codeigniter and i want to modify its url link.

The current link is: http://fortin.agency/audit-seo/frtcrwl/647/bikearena.ro?/health_check/report/647/bikearena.ro

And i want to remove “health_check/raport/” while the page is still working.

So the new url must look like: http://fortin.agency/audit-seo/frtcrwl/647/bikearena.ro

I used some htaccess code for redirect and rewrite url but it doesnt work. So the current htaccess file is:

RewriteEngine on
RewriteCond %{REQUEST_FILENAME} !-f
RewriteCond %{REQUEST_FILENAME} !-d
RewriteRule .* index.php?/$0 [PT,L]

Please, dont bother with htaccess, its only a rule to remove index.php and any other rules wont work.

I just need to know from controllers how to do that.

Is it possible?

EDIT for PACIO

this is located in health_check.php

class health_check extends Home
{

    public function __construct()
    {
        parent::__construct();
    }

    public function index($base_site="")
    {
      $this->raport();
    }

    public function raport($id=0,$domain="")
    {