Researchers made the 3D computer models by compiling 128 slice CT scans of bones from humans, early hominids, primates and dinosaurs.
In all, they scanned 224 bone specimens, spanning 350 million years from the Devonian period to the modern day.
By using 3D engineering and mathematical methods the group at University of Oxford in the UK produced 3D 'morphs' to plot changes in the shapes of species throughout the human lineage.
Extrapolation of these trends has allowed 3-D printing of possible future skeletal shapes as humans evolve.
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Samples used in the study were from shoulders, hips and knees and have enabled the researchers to make mathematical comparisons that could be used as planning tools for orthopaedic surgery.
By comparing the modern and ancient samples, the team hopes to gain a better insight into the origins and solutions to common orthopaedic complaints.
"Throughout our lineage we have been adapting the shape of our joints, which leads to a range of new challenges for orthopaedic surgeons," Paul Monk, who led the research at the Nuffield Department of Orthopaedics, Rheumatology and Musculoskeletal Sciences, said.
"These models will enable us to identify the root causes of many modern joint conditions, as well as enabling us to anticipate future problems that are likely to begin to appear based on lifestyle and genetic changes," he said.
"Current trends reveal that the modern shapes of joint replacements won't work in the future, meaning that we will need to re-think our approach for many common surgeries.