Abstract: Aiming at solving the unsafety problem of milling vertebra wall in spine stenosis surgery,a spine robot system based on force feedback control strategy is introduced.The robot control system is composed of a detection and measurement subsystem to monitor the milling process,a motion and driving subsystem to execute the milling operation,and a control and display subsystem to render the milling information.On the basis of force features during the milling process of the spine vertebra wall,a robot control strategy based on force feedback is presented to assist doctors to operate safely in spine sur-gery.The simulation and milling experiments with simulated bones prove the feasibility of the spine robot based on force feedback control strategy.