| CPC A61B 8/54 (2013.01) [G01S 7/52082 (2013.01); G01S 7/52085 (2013.01); G01S 7/52098 (2013.01); G01S 15/899 (2013.01); A61B 8/06 (2013.01); A61B 8/08 (2013.01); A61B 8/14 (2013.01); A61B 8/4218 (2013.01); A61B 8/4444 (2013.01); A61B 8/5207 (2013.01); G01S 15/8979 (2013.01)] | 20 Claims |

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1. An ultrasound system, comprising:
at least one processing unit; and
a first probe unit and a second probe unit, the first and second probe units coupled to the at least one processing unit, wherein each of the first and second probe units is configured to fire ultrasound signals and receive data signals;
wherein the at least one processing unit is configured to:
receive a beam firing task list comprising a plurality of beam firing task actions and priorities associated with the beam firing task actions, the plurality of beam firing task actions comprising a first beam firing task action to scan for a first object, and a second beam firing task action to scan for a second object, the second object being on or within the first object;
determine whether the first beam firing task action interferes with a third beam firing task action among the plurality of beam firing task actions, the priority of the third beam firing task action being higher than the priority of the first beam firing task action; and
if it is determined that the first beam firing task action interferes with the third beam firing task action, delay a start of the first beam firing task action until completion of the third beam firing task action, update the first beam firing task action with the delay of the start of the first beam firing task action, and update the beam firing task list to include the updated first beam firing task action.
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