Tele-ultrasound through teleoperation allows experts to perform examinations remotely in communities, but limited connectivity can lead to communication delays that reduce usability and diagnostic performance. Visual-haptic model mediated teleoperation reslices a pre-acquired ultrasound volume in real time to provide an accurate, delay-independent preview image for the sonographer. This enables fast and robust exploration before using the live image for fine tuning. However, existing reslicing techniques do not account for the directional nature of ultrasound - the fact that a structure looks different when imaged from different directions. This paper presents Directionality-Aware Reslicing (DARE), an ultrasound volume reconstruction and reslicing framework that takes directionality into account. The presented GPU-accelerated algorithm allows real-time reslicing from arbitrary viewpoints to generate accurate preview images. The method is evaluated quantitatively through image similarity metrics and qualitatively through a user study, and significantly outperforms existing reslicing methods in image similarity and realism compared to a ground truth. This can improve the effectiveness and robustness of tele-ultrasound in low-resource areas.

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