diff --git a/invesalius/gui/task_navigator.py b/invesalius/gui/task_navigator.py
index 2dd739bb3..9e8d3d7b2 100644
--- a/invesalius/gui/task_navigator.py
+++ b/invesalius/gui/task_navigator.py
@@ -1649,7 +1649,6 @@ def UpdateRobotButtons(self):
             and self.target_selected
             and self.target_mode
             and self.robot.IsConnected()
-            and self.robot.IsReady()
         )
         self.EnableRobotTrackTargetButton(enabled=track_target_button_enabled)
 
diff --git a/invesalius/navigation/robot.py b/invesalius/navigation/robot.py
index 03a8ed528..2eef2b290 100644
--- a/invesalius/navigation/robot.py
+++ b/invesalius/navigation/robot.py
@@ -155,7 +155,7 @@ def IsConnected(self):
         return self.is_robot_connected
 
     def IsReady(self):  # LUKATODO: use this check before enabling robot for navigation...
-        self.IsConnected() and (self.coil_name in self.navigation.coil_registrations)
+        return self.IsConnected() and (self.coil_name in self.navigation.coil_registrations)
 
     def SetRobotIP(self, data):
         if data is not None:
@@ -186,7 +186,7 @@ def SendTargetToRobot(self):
 
         navigation = self.navigation
         # XXX: These are needed for computing the target in tracker coordinate system. Ensure that they are set.
-        if navigation.m_change is None or navigation.obj_datas is not None:
+        if navigation.m_change is None or navigation.obj_datas is None:
             return False
 
         # Compute the target in tracker coordinate system.