Abstract: A control method of bone grinding includes: receiving a current position of a grinding drill bit from a positioning apparatus in real time; determining whether the current position reaches a region boundary of a region to be ground in a grinding state; and controlling the grinding drill bit to stop operating when the current position reaches the region boundary.

Abstract: The invention features methods for producing cells for transplantation into myocardial tissue of a mammal (e.g., a human). The method includes the steps of (a) providing a population of bone marrow stem cells; (b) culturing the cells under conditions that induce the cells to become cardiomyogenic cells; (c) monitoring the state of differentiation of the cells of step (b); and (d) collecting the cells of step (b) when at least about 10% and as many as 100% of the cells are cardiomyogenic cells. The bone marrow stem cells can be, for example, human bone marrow stem cells. In one embodiment, the method includes the step of transplanting the differentiated stem cells into a mammal (e.g., a human).