1. A method of compensating for motion of objects during a surgical procedure, comprising the steps of: determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device; defining a relationship between the pose of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of the surgical tool; associating the pose of the anatomy, the pose of the surgical tool, and the relationship; and updating the association in response to at least one of a motion of the anatomy and a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.