Method for ultrasound image acquisition, comprising the following steps: a) defining a fixed frame of reference (23), the origin of coordinates being set within a transmitter (20) of a tracking system (2) b) detecting position and orientation of a probe (1) with respect to said frame of reference (23) by means of a probe sensor (21) of said tracking system (2) coupled to said probe (1) c) detecting position and orientation of a body to be imaged with respect to said frame of reference (23) by means of a reference sensor (22) of said tracking system (2) coupled to said body d) calculating position and orientation of said probe (1) with respect to said body e) acquiring a 3D image by transmitting an ultrasonic beam into said body and receiving ecographic signals from said body by said probe (1) f) iterating points b) to e) for a predetermined number of acquisitions g) generating a panoramic 3D image combining the acquired 3D images on the basis of the information of position and orientation of said probe (1) with respect to said body calculated for each acquisition.
