System and methods are disclosed to facilitate intra-operative procedures and planning. A method can include storing tracking data in memory, the tracking data being generated (502) by a tracking system to represent a location of an object in a tracking coordinate system of the tracking system. The method can also include storing a patient-specific implicit model in memory, the patient-specific implicit model being generated (504) based on image data acquired for the patient to define geometry of an anatomical structure of the patient. The method can also include registering the tracking data and the patient-specific implicit model (506) in a common three-dimensional coordinate system. The method can also include generating an output visualization (508) representing a location of the object relative to the geometry of the anatomical structure of the patient in the common coordinate system.
