A system and method of use thereof are provided for dynamically generating an environmental map for use in robotic assisted surgery. The generated environmental map is used to plan a recovery tool path that an end-effector tool can safely and efficiently follow to re-position the tool back to a cutting position following the displacement of the tool from the cutting position. Additionally, the environmental map is used to update a virtual representation of a bone to provide a user with visual feedback as to the progression of the end-effector tool as the tool removes material from the bone during a surgical procedure.