Apparatus and method for object pose estimation in a medical image

An apparatus for object pose estimation in a medical image, the apparatus comprising:

• one or more ultrasound imaging systems located on a surface of a subject;
• an object of interest configured to be placed within the subject;
• at least a processor;
• and
• a memory communicatively connected to the at least a processor, wherein the memory contains instructions configuring the at least a processor to:
• receive a plurality of sets of echo data from the one or more ultrasound imaging systems, wherein the plurality of sets of echo data are configured for generation of a plurality of echo depth maps;
• generate a three dimensional (3D) point cloud related to the object of interest as a function of the plurality of sets of echo data;
• and
• generate a pose datum of the object of interest as a function of the 3D point cloud using a pose estimation model.