A medical imaging apparatus includes an ultrasound probe to transmit and receive an ultrasound signal to obtain an ultrasound image of an object; a sensor coupled to the ultrasound probe to provide a position information related to an ultrasound imaging position in the object; and a processor to extract a certain anatomical feature from the ultrasound image and the certain anatomical feature from a medical image of the object acquired by an imaging modality different from an ultrasound apparatus, perform a first registration between the medical image and the ultrasound image based on the certain anatomical feature, perform a second registration between the sensor and the medical image based on the position information and the first registration, and control a display to display a portion of the medical image corresponding to the ultrasound imaging position based on the second registration.