Craniotomy, as a part of neurosurgery, implies a safe opening of the skull with mechanical equipment. Grinding is a traditional machining method that can accurately and efficiently remove bone tissue. Aiming at low-damage and high-efficiency bone grinding, this study analyzed the kinematic law of a single abrasive grain during the grinding process. The theoretical model of grinding force was established based on the calculation of specific energy and friction force. The grinding test platform was set up, and the full factorial experimental design was performed to link the grinding force evolution with different processing parameters. The experimental results obtained on porcine femurs validated the model predictions where the grinding force grew with feed speed and grinding depth; it exhibited a decreasing trend with rotation speed, followed by increasing one.