A method for re-registration between a robotic coordinate system and an image data set is provided. The inventive re-registration method includes the steps of providing an image data set that has been registered within a robotic coordinate system based on an initial bone position; locating a first conserved point and a line segment that is fixed relative to the initial bone position prior to any detectable change in bone position from the initial bone position; relocating the first conserved point and at least a portion of the line segment after bone motion may have occurred to determine the locational change in the first conserved point and the line segment; and re-registering the image data set within the robotic coordinate system based on the determined locational changes. A system for performing this method is also provided.