Abstract: Disclosed is a method of simulating an ultrasound scan of tissue in real-time. The method comprises loading a three dimensional deformable soft tissue model of a tissue region for scanning, the deformable soft tissue model being a volumetric model and determining a three dimensional interaction between the deformable soft tissue model and at least one medical tool. The method also comprises modifying the deformable soft tissue model according to the three dimensional interaction and properties of the deformable soft tissue model, the properties including compressible and incompressible regions of the deformable soft tissue model and generating a simulated scan of the tissue in real-time according to a position of an ultrasound probe and the modified soft tissue model.