A method of generating a 3-D patient-specific musculoskeletal model. The method includes acquiring a plurality of raw radiofrequency ("RF") signals from an A-mode ultrasound scan of the bone while tracking the acquiring in 3D space. The bone contours are isolated in each of the plurality of RF signals and transformed into a point cloud. A 3-D model of the bone is then optimized with respect to the point cloud. 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.
