A system includes an ultrasound probe comprising an ultrasound transducer, a first motor configured to rotate the ultrasound transducer around a horizontal axis to scan a plane, and a second motor configured to rotate the ultrasound transducer around a vertical axis to move to a different plane. The system further includes a controller unit configured to select a number of scan planes for an interlacing scan to scan a volume of an area of interest in a patient's body using the ultrasound probe； select an interlacing factor for the interlacing scan； divide the scan planes into groups of scan planes based on the interlacing factor； and perform the interlacing scan by controlling the first motor and the second motor, wherein the first motor moves in a first direction for at least some of the scan planes and in a second direction for other ones of the scan planes.
