#$%^&*AU2016204342A120160714.pdf#####ABSTRACT A method of compensating for motion of objects during a surgical procedure is provided. The method includes determining a pose of an anatomy of a patient determining a pose of a surgical tool of a surgical device defining a relationship between the pose of the anatomy and a position, an orientation, a velocity, and/or an acceleration of the surgical tool associating the pose of the anatomy, the pose of the surgical tool, and the relationship and updating the association in response to a motion of the anatomy and/or a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.1117 cX \1 Rt CD0 mt~
