An ultrasound simulation method for rendering an ultrasound image of an anatomy model, comprises acquiring, with at least one model sensor, a position and/or orientation of the model； acquiring, with at least one probe replicate sensor, a position and/or orientation of an ultrasound imaging probe replicate, the ultrasound imaging probe replicate interacting with low friction with at least one anatomy model surface, the model surface being deformed by the pressure of the ultrasound imaging probe replicate； aligning a VR/AR model to the tracked position and orientation of the anatomy model and the ultrasound imaging probe replicate； interpolating a 2D ultrasound slice by sampling through a standard reconstructed 3D ultrasound volume, as a function of the tracked position and orientation of the anatomy model and the ultrasound imaging probe replicate.
