The present disclosure provides a system and method for removing noise from an ultrasonic signal using a generative adversarial network (GAN). The present disclosure provides three input formats for the neural network (NN) in order to feed one-dimensional (1D) input data to the network. The system is generalizable to multiple noise sources, as it learns from different motion functions and noise types. The end-to-end system of the present disclosure is trained on raw ultrasonic signals with very little pre-processing or feature extraction.