A surgical system , comprising: a robotic device having a surgical tool configured to modify a bone ; a tracking system configured to provide tracking data corresponding to a location of the surgical tool ; and a processing system communicably coupled to the robotic device and configured to: store a surgical plan comprising a first planned cut and one or more additional planned cuts, each additional cut defined by a relative angle and distance from the first planned cut; receive first tracking data from the tracking system while the surgical tool makes a cut substantially corresponding to the first planned cut; characterised in that each additional cut is defined by a relative angle and distance from the first planned cut; and the processing system is further configured to: determine a recorded first cut plane based on the first tracking data; determine an error between the recorded first cut plane and the planned first cut, the error comprising a deviation from the planned first cut, wherein the deviation is at least one of a translational deviation or a rotational deviation; update the surgical plan by modifying the one or more additional planned cuts based on the deviation. a robotic device having a surgical tool configured to modify a bone ; a tracking system configured to provide tracking data corresponding to a location of the surgical tool ; and a processing system communicably coupled to the robotic device and configured to: store a surgical plan comprising a first planned cut and one or more additional planned cuts, each additional cut defined by a relative angle and distance from the first planned cut; receive first tracking data from the tracking system while the surgical tool makes a cut substantially corresponding to the first planned cut; characterised in that each additional cut is defined by a relative angle and distance from the first planned cut; and the processing system is further configured to: determine a recorded first cut plane based on the first tracking data; determine an error between the recorded first cut plane and the planned first cut, the error comprising a deviation from the planned first cut, wherein the deviation is at least one of a translational deviation or a rotational deviation; update the surgical plan by modifying the one or more additional planned cuts based on the deviation. store a surgical plan comprising a first planned cut and one or more additional planned cuts, each additional cut defined by a relative angle and distance from the first planned cut; receive first tracking data from the tracking system while the surgical tool makes a cut substantially corresponding to the first planned cut; characterised in that each additional cut is defined by a relative angle and distance from the first planned cut; and the processing system is further configured to: determine a recorded first cut plane based on the first tracking data; determine an error between the recorded first cut plane and the planned first cut, the error comprising a deviation from the planned first cut, wherein the deviation is at least one of a translational deviation or a rotational deviation; update the surgical plan by modifying the one or more additional planned cuts based on the deviation. determine a recorded first cut plane based on the first tracking data; determine an error between the recorded first cut plane and the planned first cut, the error comprising a deviation from the planned first cut, wherein the deviation is at least one of a translational deviation or a rotational deviation; update the surgical plan by modifying the one or more additional planned cuts based on the deviation. <EOS>