Aiming at solving the unsafety problem of milling vertebra wall in spine stenosis surgery, a spine robot system based on force feedback control strategy is introduced.

• 针对脊柱椎管狭窄症减压手术中椎管壁磨削不安全这一问题，介绍了一种基于力反馈控制策略的脊柱外科机器人系统。