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

A surgical system comprising:

• a robotic manipulator;
• a surgical tool coupled to the robotic manipulator and being configured to remove material from a workpiece;
• a navigation system configured to track a pose of the surgical tool relative to the workpiece;
• and
• a control system coupled to the robotic manipulator, the surgical tool, and the navigation system, and wherein the control system is configured to:
• determine a density distribution of the workpiece, wherein the density distribution is non-homogenous;
• generate a tool path based on the density distribution;
• control the robotic manipulator to move the surgical tool along the tool path to remove the material from the workpiece while accounting for the density distribution;
• and
• as the surgical tool moves along the tool path, further adjust at least two operating parameters of the surgical tool that vary based on the density distribution, wherein the at least two operating parameters comprise at least two of:
• a feed rate of the surgical tool, a cutting speed of the surgical tool, and a cutting depth of the surgical tool.

A surgical system comprising:

• a robotic manipulator;
• a surgical tool coupled to the robotic manipulator and being configured to remove material from a workpiece;
• a navigation system configured to track a pose of the surgical tool relative to the workpiece;
• and
• a control system coupled to the robotic manipulator, the surgical tool, and the navigation system, and wherein the control system is configured to:
• determine a density distribution of the workpiece, wherein the density distribution is non-homogenous;
• generate a tool path based on the density distribution;
• define at least two operating parameters of the surgical tool that vary based on the density distribution, wherein the at least two operating parameters comprise at least two of:
• a feed rate of the surgical tool, a cutting speed of the surgical tool, and a cutting depth of the surgical tool;
• and
• control the robotic manipulator to move the surgical tool along the tool path and operate the surgical tool according to the at least two defined operating parameters, to remove the material from the workpiece while accounting for the density distribution.