Single origin marker assemblies and methods for their use

A method for performing a surgical procedure on a patient using a surgical robot having at least two robotic arms controlled by a controller, the method comprising:

• implanting an integrated surgical marker at an implantation location on a patient's bony anatomy, wherein the integrated surgical marker includes a registration marker removably attached to a navigation marker in a predetermined orientation relative to the registration marker, wherein the registration marker and the navigation marker have a fixed positional offset when attached;
• scanning the patient to produce a registration image showing a location of the registration marker in the bony anatomy;
• registering a location of the registration marker in a robotic coordinate system of the surgical robot to the location of the registration marker in the image;
• wherein the controller calculates a location of the navigation marker in the robotic coordinate system based on a positional offset between the registration marker and the navigation marker in the robotic coordinate system;
• removing the registration marker from the integrated surgical marker and leaving the navigation marker in place;
• and
• tracking changes in the location of the navigation marker in the robotic coordinate system during the robotic surgical procedure.