Use of bone motion and cutting force feedback during robotic surgery to improve robotic cutting

A method for using cutting force and/or bone motion feedback during robotic surgery to improve robotic cutting and reduce operating time, the method comprising:

• acquiring at least one of cutting force data and bone motion data during robotic cutting;
• displaying an indication of at least one of the cutting force data and the bone motion data to a user in real-time;
• pausing the robotic cutting in response to an indication signaling at least one of the following problematic conditions:
• a cutting force magnitude exceeding a threshold force;
• an off-axis cutting force vector exceeding a threshold angle from an expected cutting force vector;
• a positional or time derivative of a cutting force magnitude exceeding a threshold force;
• a positional or time derivative of an off-axis cutting force vector exceeding a threshold value;
• a bone motion magnitude exceeding a threshold magnitude;
• an off-axis bone motion vector exceeding a threshold angle from an expected bone motion vector;
• a positional or time derivative of a bone motion magnitude exceeding a threshold magnitude;
• and
• a positional or time derivative of an off-axis bone motion vector exceeding a threshold value;
• and
• mitigating the at least one problematic condition by adjusting at least one of (i) one or more cutting parameters, and (ii) a position of a bone prior to resuming the robotic cutting.