A method of generating a 3-D patient-specific musculoskeletal model. The method includes acquiring a plurality of raw radiofrequency ("RF") signals (142) from an A- mode ultrasound scan of the bone (1 16, 1 18, 120) while tracking the acquiring in 3D space. The bone contours are isolated in each of the plurality of RF signals (142) and transformed into a point cloud (165). A 3-D bone model of the bone (1 16, 1 18, 120) is then optimized with respect to the point cloud (165). The 3-D patient-specific musculoskeletal model may include a model of a bone, a model of a joint, a model of cartilage, or a combination thereof.
