A system and method for performing registration of a bone structure to align a computerized model of the bone structure with the detected surface of the actual bone structure utilizes a two-dimensional ultrasound array. The array is positioned in a manner such that the position of the array is known relative to the actual bone structure. The array is phased to produce a point-focused beam of acoustic energy which is scanned in three dimensions throughout the volume of interest to map the surface of the bone structure.
