When the proposed toolpath generation method above is applied to the robotic assisted surgical procedure, 
the effectiveness is evaluated by the motion of the cutting tool during the process.
In the experiment, unicondylar knee arthroplasty (UKA) and total knee arthroplasty (TKA) are targeted,
and a cadaveric bone was cut. In UKA case, 3 surfaces for femur (distal, posterior slope and posterior) and 1 surface for tibia are cut using the developed system.
The cutting conditions are set to Tool rotational: speed 12000 rpm, Feed rate: 400 mm/min from the experiment so far,
and a conventional end milling is conducted.
