Cutting tools, systems and methods for navigated bone alterations

A system to navigate a bone cut of a patient's bone comprising:

• a cutting tool comprising:
• a cutting feature;
• an optically trackable feature, wherein:
• the optically trackable feature is detectable by a camera;
• and
• the optically trackable feature has a defined positional relationship with the cutting feature;
• and
• an interface to couple the cutting tool to a power tool;
• and
• a computing unit communicatively coupled to the camera, the computing unit comprising at least one processing unit and a storage device storing instructions, which when executed by the at least one processing unit, configure the computing unit to:
• receive a first image from the camera when:
• the cutting tool is in a nominal stationary position,
• the camera is attached to the power tool, and
• a field of view of the camera includes the optically trackable feature;
• measure a relative pose of the camera and the optically trackable feature based on the first image;
• compute a relative pose of the camera and the cutting feature based on the defined positional relationship;
• receive a second image from the camera when:
• a target associated with a patient's bone is within the field of view of the camera;
• measure a relative pose of the camera and the target based on the second image;
• compute a relative pose of the cutting feature with respect to the patient's bone based on the relative pose of the camera and the target associated with the patient's bone and the relative pose of the camera and the cutting feature;
• and
• provide the relative pose of the cutting feature with respect to the patient's bone for display and/or to a robotic controller for controlling a procedure.