Noninvasive diagnostic system

A method of tracking motion of an actual patient bone using creating a patient specific bone model, the method comprising:

• acquiring A-mode pulse echo ultrasound signals of the actual patient bone;
• utilizing the ultrasound signals to capture a point cloud representative of the actual patient bone;
• fitting a deformable 3-D bone model to the captured point cloud to generate a 3-D patient specific bone model;
• registering the actual patient bone with the 3-D patient specific bone model;
• generating at least one localized bone point from an output of one or more ultrasound transducers positioned proximate the actual patient bone;
• tracking the at least one localized bone point by tracking the motion of the one or more ultrasound transducers using one or more inertial sensors;
• and
• tracking motion of the actual patient bone through a range of motion using the at least one tracked localized bone point in combination with the 3-D patient specific bone model.