organ and lesion location estimation system using ultrasound imaging of the movement state of the present invention, a different exercise conditions in, to obtain a long-term reference picture is a three-dimensional organs and lesions and the location estimate of the position estimate based on the target a plurality of four-dimensional reference image to form a 4-dimensional reference image forming unit The first ultrasound image forming section for forming a plural number of the organs of the 3D ultrasound image based on which the location estimation according to the motion state of the organ on which the position estimate based 4-dimensional reference image formed in the 4-dimensional reference image forming unit , between the first ultrasound image forming unit 3D ultrasound image formed in, first-rigid image registration unit to obtain a registration (rigid registration) perform a rigid transformation parameter (rigid transformation parameter) The location estimate based on the plurality of the 2D ultrasound image of the organ or the 3D ultrasound image on which the position estimate based on the motion state to be formed in accordance with the long-term, and the 2D ultrasound image for the 2D ultrasound image when formed The second ultrasound image forming section to obtain the position information of the two-dimensional plane (plane) The four-dimensional reference using a rigid transformation parameters and the position information of the two-dimensional plane formed by the second ultrasound image forming unit formed by the first image when the matching section forming the second ultrasound images formed with a two-dimensional ultrasound image generating a two-dimensional reference image sequence from a four-dimensional reference image formed in the image forming portion, among the generated 2-D reference image, find the sequence most similar to the two-dimensional reference image and the 2D ultrasound image, and the second ultrasound image forming If the form
