Robotic systems and methods for tool path generation and control based on bone density

A method of operating a surgical robotic system, the surgical robotic system comprising a manipulator including a plurality of links and joints and a tool coupled to the manipulator, the tool being configured to remove material from a workpiece, and one or more controllers coupled to the manipulator, the method comprising:

• generating, with the one or more controllers, a first tool path to remove a first portion of material from the workpiece;
• controlling, with the one or more controllers, the manipulator to position the tool for movement along the first tool path for removing the first portion of material from the workpiece;
• during movement of the tool along the first tool path, sensing, with the one or more controllers, interaction between the tool and the workpiece for determining a density of the workpiece;
• generating, with the one or more controllers, a second tool path to remove a second portion of material from the workpiece, wherein generating the second tool path is based, at least in part, on the sensed interaction between the tool and the workpiece during movement of the tool along the first tool path;
• and
• controlling, with the one or more controllers, the manipulator to position the tool for movement along the second tool path for removing the second portion of material from the workpiece and to account for the density of the workpiece by controlling one or both of:
• a feed rate of the tool and a cutting speed of the tool.