Micro-nano motor real-time imaging and tracking method and device and micro-nano motor control method

The invention provides a micro-nano motor real-time imaging and tracking method and device and a micro-nano motor control method, and the method is characterized in that the method comprises the following steps: employing an excitation ultrasonic probe to obtain an ultrasonic radio frequency echo signal group reflected by plane wave groups with different deflection angles; performing beam forming on the ultrasonic radio frequency echo signal by using a beam forming algorithm to obtain an initial image; performing coherent compounding on the plurality of frames of initial images corresponding to each ultrasonic radio frequency echo signal group to obtain a compounded image; performing image registration on all the compounded images to obtain a plurality of registered images; performing clutter filtering on all the registered images by using a predetermined clutter filtering algorithm to obtain a plurality of filtered images; displaying the filtered image in real time; identifying and positioning the micro-nano