Computer-based simulators for ultrasound training are a topic of recent interest. During the last 15 years, many different systems and methods have been proposed. This article provides an overview and classification of systems in this domain and a discussion of their advantages. Systems are classified and discussed according to the image simulation method, user interactions and medical applications. Computer simulation of ultrasound has one key advantage over traditional training. It enables novel training concepts, for example, through advanced visualization, case databases, and automatically generated feedback. Qualitative evaluations have mainly shown positive learning effects. However, few quantitative evaluations have been performed and long-term effects have to be examined.