Table 1 Table of variation levels of bone cutting parameters.

From: Dynamic bone recognition for robotic vertebral plate cutting via unit energy consumption and SVM optimized by PSO

Parameters

Lower level

Upper level

Zero level

Rotation speed n(r/min)

4000

6000

5000

Feed speed v(mm/s)

1

3

2

Depth of cut d(mm)

0.3

0.5

0.4

Bone density ρ(g/cm3)

0.6

0.9

0.75