A system comprising: a medical imaging device to capture medical images of a portion of anatomy of a patient; a robotic surgical device including an end effector adapted to position an instrument including a cup-shaped element affixed to a distal end; a computing device including a processor and a memory device, the memory device including instructions that, when executed by the processor, cause the computing device to perform operations comprising: acquiring a calibration image from the medical imaging device, the calibration image including a portion of the anatomy and the instrument in a first position and orientation relative to a coordinate system of the robotic surgical device; identifying a first plurality of patient landmarks on the portion of the anatomy in the calibration image; identifying a first elliptical outline of an opening of the cup-shaped element in the calibration image; acquiring a navigation image from the medical imaging device, the navigation image including the portion of anatomy, the cup-shaped element, and the instrument at a second position and orientation; identifying a second plurality of patient landmarks on the portion of anatomy in the navigation image; identifying a second elliptical outline of the opening of the cup-shaped element in the navigation image; aligning the coordinate system of the robotic surgical device to a frame of reference of the anatomy of the patient using the first elliptical outline and the second elliptical outline; receiving, relative to the frame of reference of the anatomy of the patient, a target inclination and a target anteversion for placement of the cup-shaped element; and generate commands to guide the robotic surgical device in moving the instrument into a position and orientation to align the cup-shaped element to the target inclination and the target anteversion in reference to the anatomy of the patient. a medical imaging device to capture medical images of a portion of anatomy of a patient; a robotic surgical device including an end effector adapted to position an instrument including a cup-shaped element affixed to a distal end; a computing device including a processor and a memory device, the memory device including instructions that, when executed by the processor, cause the computing device to perform operations comprising: acquiring a calibration image from the medical imaging device, the calibration image including a portion of the anatomy and the instrument in a first position and orientation relative to a coordinate system of the robotic surgical device; identifying a first plurality of patient landmarks on the portion of the anatomy in the calibration image; identifying a first elliptical outline of an opening of the cup-shaped element in the calibration image; acquiring a navigation image from the medical imaging device, the navigation image including the portion of anatomy, the cup-shaped element, and the instrument at a second position and orientation; identifying a second plurality of patient landmarks on the portion of anatomy in the navigation image; identifying a second elliptical outline of the opening of the cup-shaped element in the navigation image; aligning the coordinate system of the robotic surgical device to a frame of reference of the anatomy of the patient using the first elliptical outline and the second elliptical outline; receiving, relative to the frame of reference of the anatomy of the patient, a target inclination and a target anteversion for placement of the cup-shaped element; and generate commands to guide the robotic surgical device in moving the instrument into a position and orientation to align the cup-shaped element to the target inclination and the target anteversion in reference to the anatomy of the patient.