Robotic Systems And Methods For Controlling A Tool To Remove Material From A Workpiece

A method of operating a surgical system, the surgical system including a robotic manipulator including a plurality of links and joints, a tool coupled to the robotic manipulator and the tool being configured to remove material from a workpiece, a navigation system comprising a localizer, a first tracker coupled to the robotic manipulator or the tool, and a second tracker coupled to the workpiece, and wherein the localizer is configured to detect the first and second trackers, and one or more controllers coupled to the robotic manipulator and the navigation system, the method comprising the one or more controllers performing the following:

• determining, from the navigation system, a pose of the tool relative to the workpiece;
• controlling the robotic manipulator to facilitate removing of a first portion from the workpiece with the tool;
• sensing interaction between the tool and the workpiece during removal of the first portion for detecting a density of the workpiece;
• and
• controlling the robotic manipulator to facilitate removing of a second portion from the workpiece with the tool, wherein a cutting depth for the second portion is based, at least in part, on the detected density.