Abstract: Systems and methods describe augmented reality provided for navigated surgery. An augmented reality overlay (e.g. computer generated images) is rendered and displayed over images of a tracked anatomical structure. An optical sensor unit provides tracking images of targets associated with objects including the anatomical structure in a real 3D space as well as visible images thereof. The anatomical structure is registered, generating corresponding poses of the anatomical structure in a computational 3D space from poses in the real 3D space. The overlay pose in the computational 3D space is aligned with the anatomical structure pose so that the overlay is rendered on a display of the anatomical structure in a desired pose. The overlay may be generated from a (3D) overlay model such of a generic or patient specific bone, or other anatomical structure or object. The overlay may be used to register the anatomical structure.