A system for determining a position and an orientation of a bone of an anatomical feature includes a trackable reference device having a surgical pin at a first position being attachable to the bone. A wearable attachment attached to the trackable reference device is configured to be mounted about the outer-skin surface of the anatomical feature. A distance sensor mounted to the trackable reference device at a second position is operable to determine a distance measurement of the second position of the trackable reference device from the bone. Reference markers are fixedly mounted to the trackable reference device. A position sensing device registers position and orientation readings of the reference markers in a reference coordinate system. A processing unit determines the position and the orientation of the bone in the reference coordinate system using the position and orientation readings and the distance measurement.