The present application relates to a kind of
breast lesion three-dimensional reconstruction methods, comprising the following steps: step S1, breast region self-rough scanning is carried out, and the depth image of breast region is acquired, and the three-dimensional model of breast and spatial position are determined;Step S2, fine scanning is carried out to
lesion, and AI
algorithm is used to realize the segmentation extraction of
lesion feature in ultrasonic image;Step S3, with time, ultrasonic rotation angle or ultrasonic moving distance as interval, the image and position information of
lesion feature during fine scanning are sequentially recorded;Step S4, the three-dimensional reconstruction of lesion is realized by three-dimensional
reconstruction algorithm based on lesion boundary
point cloud feature;Step S5, according to the recorded center position of
lesion feature, the three-dimensional spatial position of lesion is calculated by
weighted average method;Step S6, by breast center coordinates and lesion center coordinates, the relative position relationship of both based on mechanical arm coordinates is determined, and
breast lesion three-dimensional
reconstruction method is realized.The method can help doctor to determine the shape, size and its position in breast of lesion.