1. A method for determining a depth of impaction of a prosthetic cup into an acetabulum, the method comprising the steps of: positioning the prosthetic cup at a distal end of an impactor shaft that is slidably movable relative to an end effector; tracking a spatial pose of the end effector relative to a spatial pose of the acetabulum; positioning the impactor shaft to a known ose relative to the end effector; determining a spatial pose of the prosthetic cup based on the spatial pose of the end effector and the known pose between the distal end of the impactor shaft and the end effector; and determining the depth of impaction based on the spatial pose of the prosthetic cup and the spatial pose of the acetabulum.