激光骨消融手术机器人是骨科手术机器人一个新兴发展方向，但激光消融深度控制是该技术走向临床应用所遇到的一大难题。本文基于量效关系模型实现了对激光骨消融深度的前馈控制，并且区分对待消融作用机制不同的皮质骨和松质骨。首先分别针对离体皮质骨和松质骨开展激光消融实验，并基于全连接神经网络对实验数据进行拟合，分别建立了Ho:YAG激光消融皮质骨/松质骨的量效关系模型，即激光作用脉冲数与消融深度之间的数学关系模型。然后根据骨密度将待消融骨组织划分为皮质骨和松质骨两类，针对不同骨质分别采用对应的量效关系模型，由目标消融深度规划得出激光作用脉冲数，以供在消融过程中控制激光的发生与停止。为了评估量效关系模型的准确度与消融深度控制方法的有效性，我们按照消融深度前馈控制工作流程开展了激光消融实验，结果表明实际消融深度与目标消融深度之间的误差均小于0.8mm，满足临床手术指标。

Robot-assisted laser ablation of bone tissue is an emerging development in orthopedic surgical robotics, but precise control of the ablation depth remains a major challenge for its clinical application. This study achieves feedforward control of laser ablation depth in bone tissue based on pulses-depth relationship models, distinguishing between cortical bone and cancellous bone due to their different ablation mechanisms. Initially, laser ablation experiments were conducted on cortical bone and cancellous bone in vitro, and the experimental data were fitted using a fully connected neural network. Consequently, pulses-depth relationship models for Ho:YAG laser ablation of cortical and cancellous bone were established, specifically mathematical models describing the relationship between the number of laser pulses and the ablation depth. Subsequently, the bone tissue targeted for ablation was classified into cortical and cancellous bone based on bone density. For each category, the corresponding pulse-depth relationship model was applied to determine the required number of laser pulses for the desired ablation depth, thus controlling the initiation and cessation of the laser during the ablation process. To evaluate the accuracy of the pulse-depth relationship models and the effectiveness of the ablation depth control method, laser ablation experiments were conducted following the feedforward control workflow. The results demonstrated that the error between the actual and desired ablation depths was less than 0.8 mm, meeting clinical surgical requirements.