Abstract: A method for performing arthroplasty on a joint using a surgical navigation system and augmented reality techniques. Articular anatomical structures of the joint are located using the surgical navigation system. Using the augmented reality techniques, graphical information of implant components is superimposed at correct positions on the located articular anatomical structures of the joint. Also, constraint envelopes are displayed at correct positions relative to the located articular anatomical structures of the joint. The constraint envelopes constrain a manipulator to prepare the joint so that the implant components can be installed at correct positions in the prepared joint. The manipulator may be a passive manipulator, active manipulator, or telemanipulator, and may be mounted in-situ.