A　six-degree-of-freedom　ultrasonic　C-scan　imaging　inspection　system　using　the　water　jet　method　was　developed.　The　motion　mechanism　mainly　relies　on　the　six　degrees　of　freedom　of　the　robotic　arm,　and　the　ultrasonic　focusing　transducer　is　loaded　to　realize　the　profiling　of　complex　curved　surfaces.　The　system　uses　the　amplitude　imaging　method　to　post-process　the　data　to　realize　real-time　imaging.　The　system　is　experimentally　verified　to　be　stable　and　reliable,　with　high　detection　accuracy.　This　system　realizes　the　complex　curved　surface　of　automated　detection　and　provides　a　new　way　for　curved　surface　detection.　©　2023　IEEE.