Aspects of the technology described herein related to monitoring fetal heartbeat and uterine contraction signals. An ultrasound system may be configured to sweep a volume to collect ultrasound data, detect a fetal heartbeat and/or uterine contraction signal in the ultrasound data, and automatically steer an ultrasound beam to monitor the fetal heartbeat and/or uterine contraction signal. The ultrasound system may be further configured to determine a location where the fetal heartbeat and/or uterine contraction signal is detectable or detectable at a highest quality. The ultrasound system may include a wearable ultrasound device, such as an ultrasound patch coupled to a subject. The wearable ultrasound device may have a two-dimensional array of ultrasonic transducers capable of steering ultrasound beams in three dimensions.