The paper proposes a Bayesian 3D ultrasound reconstruction/estimation from non-uniform ultrasound observations, non-Gaussian data fidelity term, and total variation (TV) based prior. To compute the maximum a posteriori (MAP) solution, we introduce a generalized expectation maximization (GEM) algorithm, which converges to the exact MAP solution in the case of convex data fidelity term. A set of experiments illustrates the effectiveness of the method.