Robotic cutting workflow

A system for surgical tracking and control comprising:

• a robotic arm configured to allow interactive movement and execute controlled autonomous movement of an end effector;
• a cut guide mounted to the end effector of the robotic arm, the cut guide configured to guide a surgical instrument within a plane;
• a tracking system configured to determine a position and an orientation of the cut guide relative to a coordinate system;
• and
• a control system configured to:
• automatically make a determination that the cut guide is in a cutting position or aligned with a cutting line or a cutting plane based on the position;
• in response to said determination, permit interactive movement of the end effector and prevent autonomous movement of the end effector, and wherein the control system is further configured to, after receiving an indication to activate autonomous movement, cause, in response to said determination indicating the cut guide is aligned with the cutting line or the cutting plane, autonomous movement of the end effector to the cutting position.