The invention discloses a heart left
greenhouse long-axis section searching method and device for an autonomous ultrasonic
robot, and the method comprises the steps: controlling an ultrasonic probe to move in a spiral track until the contour of an
aorta is detected; controlling the ultrasonic probe to translate until the central point of the
aorta contour is located at a preset right
reference line; controlling the ultrasonic probe to rotate for the first time until the
mitral valve contour is detected; determining the midpoint position of the central point of the current
mitral valve profile and the central point of the
aorta profile, and controlling the ultrasonic probe to move to the midpoint position; controlling the ultrasonic probe to rotate for the second time in a third tool coordinate
system according to a preset second rotating motion step length until the outline of the right house is detected; and controlling the ultrasonic probe to rotate for the third time until the left
ventricle contour, the
right atrium contour, the aorta contour and the
mitral valve contour are detected at the same time, thereby obtaining the left
greenhouse long-axis section of the heart. Operation
standardization is achieved, and the acquisition success rate and
image quality of the heart left
greenhouse long-axis section are improved.