A method of generating a 3-D patient-specific musculoskeletal model isprovided. The method acquires a plurality of raw radiofrequency ("RF")signals from an ultrasound scan of bodily tissue. The plurality of RF signalsare tracked in 3D space using a 3D position tracking system. A point cloud isgenerated using the plurality of raw RF signals in combination withcoordinates from using the 3D position tracking system, where the point cloudcorresponds to at least one of bone and soft tissue. A template 3-D tissuemodel is then deformed with respect to the point cloud.
