A method of manufacturing a system for guided surgery, comprising: custom creating a patient-specific jig (212, 300, 400) comprising pre-operatively forming a surface of the PSJ into a mirroring surface to mirror an anatomical surface of a first bone (204, 302) of the patient, the mirroring surface configured to mate with the anatomical surface of the first bone (204, 302) to facilitate a coordinate mapping from a sensor of the system to the anatomical coordinate frame such that position and/or orientation measurements may be calculated relative to the patient's anatomy, rather than in an arbitrary coordinate frame, wherein the PSJ (212, 300, 400) is configured to guide a relative position of the sensor and the first bone during coupling to position the sensor in a pre-determined pose in the anatomical coordinate frame; and wherein the system comprises: the PSJ; a sensor for coupling to a first bone (204, 302) to receive positional signals; a first beacon for coupling to an object to provide the positional signals to the sensor, the object comprising one of a second bone and a surgical tool; and an intra-operative computing unit in communication with the sensor, the intra-operative computing unit configured to: process positional signals from the sensor when the sensor is coupled to the first bone to calculate poses of the first beacon with respect to an anatomical coordinate frame utilizing pre-operative data representing the PSJ; and display positional information for the object in real time. custom creating a patient-specific jig (212, 300, 400) comprising pre-operatively forming a surface of the PSJ into a mirroring surface to mirror an anatomical surface of a first bone (204, 302) of the patient, the mirroring surface configured to mate with the anatomical surface of the first bone (204, 302) to facilitate a coordinate mapping from a sensor of the system to the anatomical coordinate frame such that position and/or orientation measurements may be calculated relative to the patient's anatomy, rather than in an arbitrary coordinate frame, wherein the PSJ (212, 300, 400) is configured to guide a relative position of the sensor and the first bone during coupling to position the sensor in a pre-determined pose in the anatomical coordinate frame; and wherein the system comprises: the PSJ; a sensor for coupling to a first bone (204, 302) to receive positional signals; a first beacon for coupling to an object to provide the positional signals to the sensor, the object comprising one of a second bone and a surgical tool; and an intra-operative computing unit in communication with the sensor, the intra-operative computing unit configured to: process positional signals from the sensor when the sensor is coupled to the first bone to calculate poses of the first beacon with respect to an anatomical coordinate frame utilizing pre-operative data representing the PSJ; and display positional information for the object in real time. the PSJ; a sensor for coupling to a first bone (204, 302) to receive positional signals; a first beacon for coupling to an object to provide the positional signals to the sensor, the object comprising one of a second bone and a surgical tool; and an intra-operative computing unit in communication with the sensor, the intra-operative computing unit configured to: process positional signals from the sensor when the sensor is coupled to the first bone to calculate poses of the first beacon with respect to an anatomical coordinate frame utilizing pre-operative data representing the PSJ; and display positional information for the object in real time. process positional signals from the sensor when the sensor is coupled to the first bone to calculate poses of the first beacon with respect to an anatomical coordinate frame utilizing pre-operative data representing the PSJ; and display positional information for the object in real time.