Sensor coupled to the ultrasound probe provides position information related to an ultrasound imaging position in the object. A processor performs first registration between the medical image and the ultrasound image based on the anatomical feature in the ultrasound image and a medical image of the object acquired by imaging modality different from the ultrasound apparatus, obtains first registration information which provides a relationship between a coordinate system of the medical image and a coordinate system of the ultrasound image based on the first registration, performs second registration between the sensor and the medical image based on the position information and the first registration information, and obtains second registration information based on the second registration. A display may display a portion of the medical image corresponding to the ultrasound imaging position based on the second registration information.