An augmented reality navigation system operatively coupled with a robotic surgical system , the augmented reality system comprising: - a head mounted display (110; 210; 410) comprising an at least partially transparent display screen (110; 210; 410) configured to display augmentation graphics which appear to a user to be superimposed on at least a portion of a natural field of view of the user; - at least one detector for detecting real-world features, the at least one detector connected to the head mounted display (110; 210; 410); - a surgical tool having real-world features and configured to be detected by the at least one detector , - wherein a representation of at least a portion of the surgical tool and a trajectory of the surgical tool is presented in the head mounted display (110; 210; 410) in spatial correspondence with a model of a patient anatomy such that the representation of the trajectory of the surgical tool and the portion of the surgical tool, and the model appear to have the same relative position and orientation as in physical reality, - wherein a detector input signal from the at least one detector corresponds to a field of view of the at least one detector and the field of view can comprise at least a portion of anatomy of a patient during a surgical procedure, - wherein the detector input signal includes a relative location and/or orientation for each of one or more of the real-world features, wherein the surgical tool can be inserted into or connected to the robotic surgical system ; wherein the robotic surgical system includes a robotic arm coupled to an end effector and wherein the robotic arm is configured to be automatically moved to be aligned with a trajectory selected by a user from a set of one or more planned trajectories of the surgical tool. - a head mounted display (110; 210; 410) comprising an at least partially transparent display screen (110; 210; 410) configured to display augmentation graphics which appear to a user to be superimposed on at least a portion of a natural field of view of the user; - at least one detector for detecting real-world features, the at least one detector connected to the head mounted display (110; 210; 410); - a surgical tool having real-world features and configured to be detected by the at least one detector , - wherein a representation of at least a portion of the surgical tool and a trajectory of the surgical tool is presented in the head mounted display (110; 210; 410) in spatial correspondence with a model of a patient anatomy such that the representation of the trajectory of the surgical tool and the portion of the surgical tool, and the model appear to have the same relative position and orientation as in physical reality, - wherein a detector input signal from the at least one detector corresponds to a field of view of the at least one detector and the field of view can comprise at least a portion of anatomy of a patient during a surgical procedure, - wherein the detector input signal includes a relative location and/or orientation for each of one or more of the real-world features, wherein the surgical tool can be inserted into or connected to the robotic surgical system ; wherein the robotic surgical system includes a robotic arm coupled to an end effector and wherein the robotic arm is configured to be automatically moved to be aligned with a trajectory selected by a user from a set of one or more planned trajectories of the surgical tool. <EOS>