A system for accounting for anatomical movement during a surgical procedure, comprising: a working robotic arm ; a detecting robotic arm configured to rigidly hold an anatomical element by a mechanical gripper , the detecting robotic arm further comprising a first internal sensor configured to detect at least one of a force or a torque correlating to a force or a torque, respectively, exerted on the anatomical element by the working robotic arm , and the detecting robotic arm further comprising a second internal sensor configured to detect a movement of the detecting robotic arm ; at least one processor ; and at least one memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to: receive a surgical plan comprising information about the anatomical element of a patient and a surgical task to be completed on the anatomical element by the working robotic arm ; correlate a position of the detecting robotic arm to a position of the anatomical element ; detect, based solely on sensor data received from the second internal sensor, a movement of the detecting robotic arm resulting from a movement of the anatomical element during execution of the surgical task; and control movement of the detecting robotic arm during execution of the surgical task based on the detected movement. a working robotic arm ; a detecting robotic arm configured to rigidly hold an anatomical element by a mechanical gripper , the detecting robotic arm further comprising a first internal sensor configured to detect at least one of a force or a torque correlating to a force or a torque, respectively, exerted on the anatomical element by the working robotic arm , and the detecting robotic arm further comprising a second internal sensor configured to detect a movement of the detecting robotic arm ; at least one processor ; and at least one memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to: receive a surgical plan comprising information about the anatomical element of a patient and a surgical task to be completed on the anatomical element by the working robotic arm ; correlate a position of the detecting robotic arm to a position of the anatomical element ; detect, based solely on sensor data received from the second internal sensor, a movement of the detecting robotic arm resulting from a movement of the anatomical element during execution of the surgical task; and control movement of the detecting robotic arm during execution of the surgical task based on the detected movement. receive a surgical plan comprising information about the anatomical element of a patient and a surgical task to be completed on the anatomical element by the working robotic arm ; correlate a position of the detecting robotic arm to a position of the anatomical element ; detect, based solely on sensor data received from the second internal sensor, a movement of the detecting robotic arm resulting from a movement of the anatomical element during execution of the surgical task; and control movement of the detecting robotic arm during execution of the surgical task based on the detected movement. <EOS>