I haven't actually done it,
but I suppose you mark the wood, then calibrate the height of your router by turning it up-side-down, laying the washer next to the cutting bit on the router's base, and adjusting the height until it is equal to the washer, then carefully route out what you have marked.
Practicing on a piece of scrap wood is a good way to verify the router's depth is correct.
Dig it?
Craig