An ultrasound imaging apparatus including a processing unit configured to produce an ultrasound image of the target region by applying position/orientation data representative of the position and/or orientation of an ultrasound transducer on the first side of a surface during each collection cycle to echo data representative of reflected ultrasound energy received by the ultrasound transducer during each collection cycle so as to coherently focus the echo data at a plurality of points distributed within the target region.
