The invention discloses a four-dimensional ultrasonic probe motor control system which comprises a microprocessor, a motion controller, a motor driver and a coder, wherein the microprocessor and the motion controller are sequentially connected with the motor driver, the motor driver is connected with a servo motor, the coder is connected with a rotating shaft of the servo motor, the output end ofthe coder is respectively connected with the microprocessor and the motion controller, the microprocessor is used for sending commands for controlling the motion of the servo motor to the motion controller, the coder is used for respectively outputting at least one path of detection signals to the microprocessor and the motion controller, the motion controller is used for outputting control signals for controlling the motion of the motor to the motor driver according to the commands and the detection signals, and the motor driver is used for driving the servo motor according to the control signals.