A computer-assisted surgery (CAS) system outputs a leg length discrepancy and/or an offset between conditions. An inertial sensor unit is connected to an instrument(s) to produce readings representative of its orientation. A CAS processor unit has a coordinate system module for setting a pelvic coordinate system from readings of the inertial sensor unit, a tracking module for tracking an orientation of the instrument(s) relative to the pelvic coordinate system during movements thereof, and a geometrical relation data module for recording preoperatively a medio-lateral orientation of the instrument(s) representative of a medio-lateral axis of the legs and a distance between the legs, for recording after implant rejointing the medio-lateral orientation and the distance, and for calculating a leg length discrepancy and/or an offset, based on the distances and the medio-lateral orientations. An interface outputs the leg length discrepancy and/or the offset between leg conditions.