Background, Motivation and Objective Ultrasound examination highly depends on the skill of the operator. Recently, the ultrasound image simulator has been proposed to assist training procedure in hospital and medical school. As operator is moving the ultrasound probe on the manikin, simulators can provide virtual images for real examination environments which allow users to practice their skill before clinical diagnosis. A large number of clinical ultrasound data can be stored in simulator as a database for training purpose, particularly for rare disorders. The sensing system is the most crucial part of simulator because a high sensitivity sensing provides a higher performance for displaying the real image. Currently, several commercial ultrasound simulators are available based on different sensors, such as electromagnetic, optical, and RFID sensors. In present study, ultrasound sensors were used as a primary sensing system for developing an ultrasound simulator. System verification was performed by in vitro porcine heart imaging.