Yes, you'll need to use the Domain Name Servers to provide you with a domain name that is related to your I.P. address, the same way you would if you just wanted to register any other domain name.
When you have an I.P. address that changes everytime you log on to the internet, the domain name servers make sure that the address uses the same domain name.
Even with as static I.P. address you will still need to register your domain name so that the DNS service can point everybody to your server.
Talk to your Internet Service Provider about registering a domain name for your server.
Or alternatively you can try something like this: No-IP™ Free - Free Dynamic DNS - DDNS