A method for real-time correction of tissue compression for tracked ultrasound includes acquiring an ultrasound image of tissues of interest with an ultrasound probe having a probe surface, where the ultrasound probe is tracked to provide a position and an orientation of the probe surface of the ultrasound probe for the acquired ultrasound image; acquiring intraoperative measurements of the undeformed tissue surface; constructing a generic grid representation of tissues for use with a mathematical model of tissue biomechanics, where the generic grid representation is pre-aligned to the acquired ultrasound image by performing a calibration to the ultrasound probe; determining boundary conditions to the mathematical model represented by the generic grid representation; solving the mathematical model for 3D displacements in the generic grid representation of the tissues; and performing correction of tissue compression by using the reversed and interpolated 3D displacement field on the acquired ultrasound image.