3-D US Volume From 2-D Images From Freehand Rotation and/or Translation of Ultrasound Probe

A method includes free hand rotating or translating a first transducer array by rotating or translating the probe (102) about or along a longitudinal axis (206) of the probe through a plurality of angles or linear displacements in a cavity, moving a first imaging plane through an extent of a structure of interest. The method further includes transmitting signals and receiving echoes with the first transducer array concurrently with the rotating or the translating, and generating two-dimensional images of the structure of interest with the received echo for the plurality of the angles or the linear displacements. The method further includes identifying the plurality of the angles or the linear displacements based on the generated images and secondary information, aligning the two-dimensional images based on the identified plurality of the angles or the linear displacements, and combining the aligned two-dimensional images to construct a three-dimensional volume of the structure of interest.