The application relates to the technical field of medical intelligent diagnosis, and provides a multi-
modal ultrasonic scanning method, device and related
system. The method collects depth image data of a
skin area of a user through a
camera module, controls a mechanical arm to adjust an ultrasonic probe to a first target
pose according to scanning intention information of the user and the depth image data, wherein the ultrasonic probe and a force feedback sensor are integrated at the
tail end of the mechanical arm, calculates an ultrasonic quality evaluation parameter according to first ultrasonic image data of the ultrasonic probe and first
contact pressure data of the force feedback sensor, obtains a first ultrasonic quality evaluation parameter, adjusts the ultrasonic probe to a second target
pose through the mechanical arm according to the first ultrasonic quality evaluation parameter, and scans the user according to the depth image data, second ultrasonic image data of the ultrasonic probe and second
contact pressure data of the force feedback sensor to obtain a scanning result. In this way, the stability and safety of the ultrasonic probe during scanning are improved.