The embodiments relate to a method for compensating for a deterioration in registration accuracy of a medical robotic device relative to a body to be operated on, the method including selecting at least one landmark on an initial image data record of the body, registering the medical robotic device relative to the body, positioning the end effector in the vicinity of the landmark, recording an intraoperative image data record in which the end effector is captured with a region of the body adjacent to the end effector, determining the position and/or the orientation of the end effector in the intraoperative image data record, comparing this position and/or orientation with the landmark and identifying any divergence, and repositioning the end effector in order to compensate for the divergence, in order thereby to achieve greater precision during the operative intervention.
