Grinding methods have been widely used in orthopedic surgery, which has high requirements for surface quality, grinding force and temperature control. It is necessary to explore the influence of micro-grinding parameters on the grinding force temperature from a microscopic perspective. This paper describes the micro structure, composition and thermodynamic properties of bone. From the perspective of the single abrasive grain, the single abrasive grain cutting model is established, and the single abrasive grain cutting force equation is derived. ABAQUS is used to establish a 2D cutting simulation model of abrasive grains, and the internal structure of the bone material is considered, and the bone micro structure model (including osteon orientation , matrix, cement line ) is established. The simulation study is carried out on the cutting direction of the abrasive grains in parallel, vertical and cross with the axial unit axis. The study of the relationship between force and temperature and cutting parameters shows that the abrasive cutting force increases with the increase of grinding speed and grinding depth. The cutting force is the largest in the vertical cutting mode, the cutting force is the second in the cross cutting mode, and the cutting force is the smallest in the parallel cutting mode. Finally, the comparison between theory and simulation shows that the theoretical analysis results are consistent with the finite element simulation results, which verifies the correctness of the theoretical model of single abrasive grain cutting force.

Laparoscopic surgery, one of the most popular minimally invasive surgeries, still has many drawbacks in clinical operations (Lefor, 2019). For instance, the surgery requires several experienced doctored to operate the endoscope. The doctors are easily fatigued in the time-consuming operation, and their hand movements become unstable. The resulting tremor of the surgical image may undermine the accuracy and quality of the surgery. These drawbacks can be effectively solved by the integrating robot technology into the surgery. The robot operation is accurate, flexible and immune to external disturbances. It can enhance the operation ability of the hands and eyes of the doctors, and thus eliminate the tremor in the surgical image. The proliferation of robot technology in clinical applications has given birth to the single-hole laparoscopic surgery (SHLS) (Iavazzo and Gkegkes, 2014), a technique designed to reduce surgical incision and infection possibility. During the SHLS, an endoscope is inserted through one operation hole in the umbilicus into the abdomen. This procedure ensures the safe and flexible operation of surgical instruments and prevents abdominal pollution and postoperative complications. The most representative minimally invasive SHLS robots include the da Vinci surgical system (Intuitive Surgical Inc.) (Grimminger et al., 2018), the single-hole surgical robot with a 7DOF multi-joint snake mechanism (Johns Hopkins University) (Simaan et al., 2004), and the single-hole two-arm robot Insertable Robotic Effector Platform (IREP) with multi-DOF snake joints (Columbia University) (Simaan et al., 2013). The angle of the endoscope should be adjustable at any time to offer a clear view of the abdominal cavity. This calls for the optimal position planning of the SHLS robot in the abdominal cavity (Sun et al., 2007). Since the initial position of robot arm depends on the abdominal incision position of the patient, it is necessary to select a proper incision position in the abdominal cavity according to the anatomical features and clinical experience. In general, the

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