Virtual reality three-dimensional visualization of human tissue in conjunction with ultrasound scan locations

Abstract

This invention relates to the field of ultrasound detection technology, specifically to a virtual reality 3D visualization method for human tissue based on ultrasound scanning positions. It includes defining the position where the ultrasound probe first contacts the human tissue as the initial modeling point; performing image space modeling based on the initial modeling point; and displaying the established spatial model in multiple dimensions through virtual reality; combining the ultrasound detection content with the established model; and combining the scanned images with the already modeled model. This invention sets several initial detection points, and then establishes an image space model based on the position of each initial detection point. During the doctor's detection process, virtual reality interaction is achieved through AR glasses, allowing the doctor to continuously monitor the image detection progress.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ultrasonic detection, in particular to a method for virtual reality three-dimensional visualization of human tissue combined with ultrasonic scanning position. BACKGROUND

[0002] When performing ultrasonic detection, the ultrasonic detection is performed in a fan scanning manner, and the image detected by the ultrasonic probe has a deformation, and the reasons include:

[0003] Sound speed assumption error, which is also the most common reason for image deformation, the reason is that the propagation speed of sound waves in different substances is different, and the ultrasonic machine defaults to assume that the propagation speed of sound waves in all tissues in the human body is constant (usually set to 1540 m / s) when calculating depth and position. However, in fact, the sound speed of different tissues is different (for example, fat is about 1450 m / s, muscle is about 1580 m / s, and bone is about 4080 m / s), and when the sound wave passes through the tissue with different sound speed from the assumed value, the machine will make an error in calculating the depth of the reflection interface. This will cause the structure in the image to be stretched or compressed, which will cause some substances in the human tissue to be lengthened;

[0004] Sound beam refraction error: sound beams, like light rays, will refract (change direction) when sound waves propagate at an angle from one tissue to another tissue with different sound speeds. Refraction will cause errors in judging the target position, causing the structure in the image to be horizontally displaced or distorted;

[0005] That is, when performing ultrasonic examination, the image we see is the image after slicing, and the image displayed is the image displayed during ultrasonic detection, which cannot be corrected due to deformation. When using an ultrasonic probe for detection, the doctor needs to adjust the angle on site, and sometimes a lot of time is spent to find a suitable angle, which not only prolongs the patient's examination time, but also increases the difficulty of the doctor to detect the patient's pathology. At the same time, the doctor needs to judge and watch the examination report, which is highly professional, and it is difficult for ordinary patients to understand and watch. When the doctor explains the patient's condition to the patient, the patient cannot intuitively see it, which increases the difficulty of communication between the doctor and the patient. SUMMARY

[0006] The present application relates to the technical field of ultrasonic detection, in particular to a method for virtual reality three-dimensional visualization of human tissue combined with ultrasonic scanning position.

[0007] To solve the above problems, a method for virtual reality three-dimensional visualization of human tissue combined with ultrasonic scanning position is provided, comprising the following steps:

[0008] S1. Define the position where the ultrasound probe first contacts the human tissue as the initial modeling point;

[0009] S2. Acquire the contents of human tissue detected by the ultrasound probe, perform image space modeling based on the initial modeling points, and display the established spatial model in a multi-dimensional way through virtual reality;

[0010] S3. Manually control the ultrasound probe to continue ultrasound detection of human tissue, and combine the ultrasound detection content with the established model;

[0011] S4. In subsequent scanning processes, the scanned images and the already modeled models are combined to continuously improve the shape and structure of the model.

[0012] As a further improvement to this technical solution, the step of defining the initial modeling points in S1 is as follows:

[0013] S1.1 Select a line on the human body as the scanning midline, and select several initial detection points on the scanning midline based on the distribution of human body structure. Determine the detection area with the initial detection point as the center according to the size of the organ to be detected. Then, manually hold the ultrasound probe and one of the initial detection points as the first detection point. The ultrasound probe is in contact with the human skin, with the middle part of the ultrasound probe as the base point.

[0014] S1.2 Acquire images scanned by the ultrasonic probe and determine the image line segments acquired from the ultrasonic waves emitted from the base point of the ultrasonic probe;

[0015] S1.3 Determine the center point of the image line segment and define the center point as the initial modeling point.

[0016] As a further improvement to this technical solution, the step of establishing the image space model in S2 is as follows:

[0017] S2.1 Collect images of the fan-shaped surface obtained by the ultrasound probe, and set the coordinates of each point in the image according to the initial modeling points;

[0018] S2.2 After determining the coordinates, assign three-dimensional coordinates to the two-dimensional image;

[0019] S2.3. Construct a planar shape based on the given three-dimensional coordinates, resulting in a sheet-like image space model.

[0020] As a further improvement to this technical solution, S2 also includes:

[0021] S2.4. Manually move the ultrasound probe in a single direction to scan the human tissue in a plane and acquire several two-dimensional images.

[0022] S2.5. Perform the operations of S2.1 - S2.3 on several two - dimensional images to obtain several sheet - like image space models with three - dimensional coordinates, and combine the several sheet - like image space models according to the three - dimensional coordinates to form a three - dimensional image space model.

[0023] As a further improvement of this technical solution, the steps for multi - dimensional display of the established space model in S2 are as follows:

[0024] S2.6. Obtain the real - space content through an AR glasses and establish a virtual space model, and manually select the model projection points in the virtual space model;

[0025] S2.7. Match the initial modeling points in the established image space model with the model projection points, and display the established image space model in the virtual space model;

[0026] S2.8. Fix the position of the image space model in the virtual space model, and manually move the position of the AR glasses to move the perspective.

[0027] As a further improvement of this technical solution, the steps for combining the content detected by ultrasound and the established model in S3 are as follows:

[0028] S3.1. Manually operate the ultrasound probe to move on the human tissue, starting from the detection initial point where the ultrasound probe first touches the human tissue and diverging around;

[0029] During the process of moving the ultrasound probe, move according to the area of the detection region, so that the distance of each movement of the ultrasound probe exceeds the range of the detection region;

[0030] S3.2. Obtain the image space model formed by each movement of the ultrasound probe through S2, and then combine the obtained several image space models according to the same points based on the position of the initial modeling points, so that they form a three - dimensional image similar to a cross, and at the same time display the formed image through the AR glasses;

[0031] S3.3. Manually move the ultrasound probe to perform an S - shaped reciprocating movement on the human tissue to completely scan the human organ, so that the scanned surface after scanning is larger than the area of the detection region;

[0032] S3.4. Establish an image space model for the two - dimensional images continuously obtained in S3.3 according to the steps of S2, and combine the established image space model with the cross - shaped image space, and combine them with each other by means of the coordinates at the same positions of the image space models obtained from the cross - shaped and S - shaped movements, so that the two models are combined together to form a model combination, and display it in the virtual space model.

[0033] As a further improvement to this technical solution, in step S3.4, the step of combining the coordinates of the same position in the image spatial model obtained by the cross-shaped and S-shaped movements is as follows:

[0034] ① Compare the image space model obtained by S-shaped movement with the image space model obtained by cross-shaped movement to obtain the position of the same image, and determine the three-dimensional coordinates corresponding to each same image based on the position of the same image;

[0035] ② Based on the same three-dimensional coordinates in the two image spatial models, derive the three-dimensional coordinates of other points in the image spatial model obtained by S-shaped movement to obtain the complete spatial model of the image spatial model obtained by S-shaped movement;

[0036] ③ When comparing two image space models, there may be cases where the image space models are different. In this case, both image space models with the same three-dimensional coordinates should be recorded and saved.

[0037] As a further improvement to this technical solution, the step in S4 of combining the scanned image and the already modeled model is as follows:

[0038] S4.1 Manually move the ultrasound probes one by one to place them on another selected initial detection point and move them so that the direction of the ultrasound waves emitted by the ultrasound probes is towards the human organ to be detected.

[0039] S4.2 Repeat step S3 at other initial detection points to obtain several model combinations;

[0040] S4.3. Compare several model assemblies to find the positions of the same images. Then, determine the positional relationship of each model assembly based on the positions of the multiple identical images. Based on the positional relationship of each model assembly, compare the initial modeling points in each model assembly to determine the distance of the deviation between each initial modeling point. Use the initial modeling point corresponding to the first detection point as the basic model coordinate point and adjust the coordinate position of the other initial modeling points. The model assembly adjusts the coordinates of the model assembly according to the corresponding initial modeling points so that several model assemblies use the same coordinate system.

[0041] S4.4 Record the different detection results at the same location in each model assembly, and merge the same detection results at other locations.

[0042] As a further improvement to this technical solution, in S4.4, when encountering different detection situations at other identical locations, the following processing is performed:

[0043] ① There is a discrepancy between the S-shaped movement and the image space model obtained by the cross-shaped movement in each model combination, but this discrepancy can be verified by other model combinations, so the model combination shows the situation that occurs most frequently;

[0044] ② If each model assembly contains images of the same location but different states, then the location should be labeled with an issue label and a folded display package should be formed.

[0045] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0046] 1. In this method of virtual reality 3D visualization of human tissue combined with ultrasound scanning positions, several initial detection points are set, and then an image space model is established based on the position of each initial detection point. During the doctor's detection process, virtual reality interaction is achieved through AR glasses, allowing the doctor to understand the image detection situation at all times. The detection results in a single direction are obtained through the established model combination. Then, by detecting several initial detection points, several model combinations are obtained. By combining the obtained model combinations, the model situation of the same organ in different positions can be obtained. In this way, the degree of deformation of ultrasound detection is reduced, the accuracy of ultrasound detection is improved, and the results of ultrasound detection are more precise.

[0047] 2. In this method of virtual reality three-dimensional visualization of human tissue combined with ultrasound scanning location, the results of the patient's detection are combined with virtual reality technology to display the images detected by the ultrasound probe in three dimensions. Then, the doctor and the patient can view the combined model assembly through virtual reality technology at the same time. In this way, the patient can see the condition more clearly, and the doctor's words can be combined with the display of the combined model assembly, making it easier for the patient to understand and reducing the difficulty of communication between the doctor and the patient. At the same time, it also makes the patient more aware of their condition. Attached Figure Description

[0048] Fig. 1 This is a flowchart illustrating the overall steps of the present invention;

[0049] Fig. 2 This is a schematic diagram of the ultrasonic probe of the present invention moving in a star-shaped pattern;

[0050] Fig. 3 This is a schematic diagram of the ultrasonic probe of the present invention moving in an S-shape. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0052] During ultrasound examination, conventional ultrasound images (such as B-mode ultrasound) are two-dimensional slices, not three-dimensional. This can easily lead to image distortion, altering the shape of some lesions. Furthermore, the planar slices make it difficult for patients to discern the condition, requiring them to consult doctors. Doctors, in turn, rely on their medical knowledge and experience to diagnose the patient's condition, making the process highly specialized. While 3D / 4D images can be obtained and displayed using technology, the resulting images often fail to clearly show the location of lesions, which are typically located inside organs. Due to patient cultural limitations, the lack of visual references can also hinder patients' understanding of their condition, increasing the difficulty of communication between doctors and patients. Therefore, to facilitate communication between doctors and patients and to allow patients to clearly see their condition while reducing the complexity of symptom comprehension, this solution provides a virtual reality 3D visualization method for human tissue based on ultrasound scan locations. Please refer to [link / reference]. Figs. 1-3 As shown, it includes the following steps:

[0053] S1. Define the position where the ultrasound probe first contacts the human tissue as the initial modeling point;

[0054] In S1, the steps for defining the initial modeling points are as follows:

[0055] S1.1 Select a line on the human body as the scanning midline, and select several initial detection points on the scanning midline based on the distribution of human body structure. Determine the detection area with the initial detection point as the center according to the size of the organ to be detected. Then, manually hold the ultrasound probe and one of the initial detection points as the first detection point. The ultrasound probe is in contact with the human skin, with the middle part of the ultrasound probe as the base point.

[0056] Before conducting the probe, the doctor can draw on the patient's body at the location to be probed, marking the position of the scanning midline and determining the initial probe point on the scanning midline. Once the doctor is proficient, they can determine the position of the scanning midline and the initial probe point based on experience without drawing lines or finding points.

[0057] S1.2 Acquire images scanned by the ultrasonic probe and determine the image line segments acquired from the ultrasonic waves emitted from the base point of the ultrasonic probe;

[0058] Existing technologies are already capable of accurately measuring distances; for example, ultrasound can be used to obtain the diameter of an infant's head and the length of an infant.

[0059] S1.3 Determine the center point of the image line segment and define the center point as the initial modeling point.

[0060] S2. Acquire the contents of human tissue detected by the ultrasound probe, perform image space modeling based on the initial modeling points, and display the established spatial model in a multi-dimensional way through virtual reality;

[0061] The steps for establishing an image space model in S2 are as follows:

[0062] S2.1 Collect images of the fan-shaped surface obtained by the ultrasound probe, and set the coordinates of each point in the image according to the initial modeling points;

[0063] The coordinates of each point in the image are determined based on the position of the initial modeling point. At this point, a point on a plane is obtained. For example, the initial modeling point is defined as (0, 0), and the positions of other points can be determined based on their distance from the initial modeling point. For example, if a point is 5 units away from the x-axis and -6 units away from the y-axis, its coordinates will be (-6, 5). The unit distance used is mm.

[0064] S2.2 After determining the coordinates, assign three-dimensional coordinates to the two-dimensional image;

[0065] This means adding a new axis to the two-dimensional coordinate system. When setting up the three-dimensional coordinates, the initially obtained plane can be used as the coordinate axis of the xyz axis, which can facilitate the determination of subsequent coordinate points.

[0066] S2.3. Construct a planar shape based on the given three-dimensional coordinates, resulting in a sheet-like image space model;

[0067] In other words, a three-dimensional model is created using a plane, but because it is a plane, what is constructed is a sheet-like three-dimensional model.

[0068] S2 also includes:

[0069] S2.4. Manually move the ultrasound probe in a single direction to scan the human tissue in a plane and acquire several two-dimensional images.

[0070] S2.5 Perform operations S2.1-S2.3 on several two-dimensional images to obtain several sheet-like image space models with three-dimensional coordinates, and combine the several sheet-like image space models according to the three-dimensional coordinates to form a three-dimensional image space model. At this time, a model with volume is obtained.

[0071] The steps for multi-dimensional display of the established spatial model in S2 are as follows:

[0072] S2.6. Obtain the content of the real space through AR glasses, establish a virtual space model, and manually select the model projection point in the virtual space model;

[0073] During ultrasound examination, doctors can wear AR glasses, and the images detected by the ultrasound probe are processed into an image space model for display. Doctors can determine the scanning situation by viewing the image space model formed by the detection.

[0074] The model projection points can be manually selected by the doctor or the default mode can be used. Since doctors examine a large number of patients every day, the default mode can reduce the doctor's workload.

[0075] S2.7 Match the initial modeling points and model projection points in the established image space model, and display the established image space model in the virtual space model;

[0076] S2.8. The position of the fixed image space model in the virtual space model is used to move the viewpoint manually by moving the position of the AR glasses.

[0077] Doctors use AR glasses to view the image space model. If there are any missing parts, doctors can use an ultrasound probe to fill in the missing parts to ensure the integrity of the image space model.

[0078] S3. Manually control the ultrasound probe to continue ultrasound detection of human tissue, and combine the ultrasound detection content with the established model;

[0079] The steps in S3 to combine the ultrasonic detection content with the established model are as follows:

[0080] S3.1 The ultrasound probe is manually moved on the human tissue, and the probe spreads outward from the initial point of first contact with the human tissue.

[0081] During the movement of the ultrasonic probe, the probe is moved according to the area of ​​the detection region, so that the distance the ultrasonic probe moves each time exceeds the range of the detection region.

[0082] S3.2. Obtain the image space model formed by each movement of the ultrasonic probe through S2, and then combine several obtained image space models by the same points according to the positions of the initial modeling points. Refer to Fig. 2 As shown, make it form a three-dimensional image similar to a cross shape. The cross-shaped movement trace of the ultrasonic probe in the figure is the trajectory of manually moving the ultrasonic probe on the human body. At the same time, display the formed image through the AR glasses;

[0083] The three-dimensional image in the cross shape can completely cover the detection area;

[0084] S3.3. Manually move the ultrasonic probe to make a reciprocating S-shaped movement on the human tissue. Refer to Fig. 3 As shown, the S-shaped movement trace of the ultrasonic probe in the figure is the trajectory of manually moving the ultrasonic probe on the human body. Perform a complete scan of the human organ to make the scanned surface area after scanning larger than the area of the detection area;

[0085] Make the scanned surface area after scanning larger than the area of the detection area to prevent the appearance of edge blurring and ensure that the organ structure detected in the detection area is clear;

[0086] S3.4. Establish the image space model for the two-dimensional images continuously obtained in S3.3 according to the steps of S2, and combine the established image space model with the image space in the cross shape. With the help of the coordinates at the same positions of the image space models obtained from the cross shape and the S-shaped movement, perform mutual combination, so that the two models are combined together to form a model combination, and display it in the virtual space model.

[0087] In S3.4, the steps of performing mutual combination on the coordinates at the same positions of the image space models obtained from the cross shape and the S-shaped movement are as follows:

[0088] ①. Compare the image space model obtained from the S-shaped movement with the image space model obtained from the cross shape, obtain the positions of the same images, and determine the three-dimensional coordinates corresponding to each same image according to the positions of the same images;

[0089] ②. Derive the three-dimensional coordinates of other points of the image space model obtained from the S-shaped movement according to the same three-dimensional coordinates in the two image space models, and obtain the entire space model of the image space model obtained from the S-shaped movement;

[0090] ③. When comparing the two image space models, there are cases where the image space models are different. At this time, record and save both image space models with the same three-dimensional coordinates.

[0091] S4. In the subsequent scanning process, mutually combine the scanned images and the already modeled models to continuously improve the shape and structure of the model;

[0092] The steps in S4 for combining the scanned images with the already modeled model are as follows:

[0093] S4.1 Manually move the ultrasound probes one by one to place them on another selected initial detection point and move them so that the direction of the ultrasound waves emitted by the ultrasound probes is towards the human organ to be detected.

[0094] S4.2 Repeat step S3 at other initial detection points to obtain several model combinations;

[0095] S4.3. Compare several model assemblies to find the positions of the same images. Then, determine the positional relationship of each model assembly based on the positions of the multiple identical images. Based on the positional relationship of each model assembly, compare the initial modeling points in each model assembly to determine the distance of the deviation between each initial modeling point. Use the initial modeling point corresponding to the first detection point as the basic model coordinate point and adjust the coordinate position of the other initial modeling points. The model assembly adjusts the coordinates of the model assembly according to the corresponding initial modeling points so that several model assemblies use the same coordinate system.

[0096] S4.4 Record the different detection results at the same location in each model assembly, and merge the same detection results at other locations.

[0097] When merging several model assemblies, two model assemblies are merged, and after the merge is completed, the newly merged model assembly is merged with another model assembly. This process is repeated until all model assemblies are merged together.

[0098] In S4.4, when encountering different detection scenarios at the same location, the following processing is performed:

[0099] ① There is a discrepancy between the S-shaped movement and the image space model obtained by the cross-shaped movement in each model combination, but this discrepancy can be verified by other model combinations, so the model combination shows the situation that occurs most frequently;

[0100] ② If each model assembly contains images of the same location but different states, then the location should be labeled with an issue label and a folded display package should be formed.

[0101] By setting several initial detection points and then establishing an image space model based on the position of each initial detection point, the doctor can interact with the virtual reality through AR glasses during the detection process. This allows the doctor to monitor the image detection status at all times and obtain detection results in a single direction through the established model combination. By detecting several initial detection points, several model combinations can be obtained. By combining these model combinations, the model status of the same organ in different orientations can be obtained. This method reduces the degree of deformation in ultrasound detection, improves the accuracy of ultrasound detection, and makes the ultrasound detection results more precise.

[0102] When the doctor explains to the patient:

[0103] Doctors and patients wear AR glasses simultaneously. The doctor views the assembled model and displays the locations of symptoms within the model to the patient, allowing the patient to clearly see the symptoms and understand their condition. The model-based presentation reduces the technical complexity required for patients to understand the symptoms, making them easier for the general public to comprehend. It also facilitates patient comprehension when doctors explain symptoms, lowering the communication barrier between doctors and patients.

[0104] At the same time, when doctors encounter deviations in image spatial models at the same location, they can make judgments about the symptoms based on their knowledge and medical experience, so that the content displayed in the obtained model combination can be clearly explained to the patient, thereby improving the patient's understanding of their symptoms.

[0105] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for virtual reality three-dimensional visualization of human tissue based on ultrasound scanning locations, characterized by: It includes the following steps: S1. Define the position where the ultrasonic probe first touches the human tissue as the initial modeling point; S2. Obtain the content of the human tissue detected by the ultrasonic probe, perform image space modeling based on the initial modeling point, and display the established space model in multiple dimensions through virtual reality; S3. Manually control the ultrasonic probe to continue ultrasonic detection of the human tissue, and combine the content of the ultrasonic detection with the established model; The step of combining the content of the ultrasonic detection with the established model in S3 is as follows: S3.

1. Manually operate the ultrasonic probe to move on the human tissue, starting from the detection initial point where the ultrasonic probe first touches the human tissue and diverging in all directions; S3.

2. Obtain the image space model formed by each movement of the ultrasonic probe through S2, and then combine the obtained several image space models according to the same points based on the position of the initial modeling point to form a three-dimensional image similar to a cross, and display the formed image through AR glasses; S3.

3. Manually move the ultrasonic probe to perform an S-shaped reciprocating movement on the human tissue to completely scan the human organ, so that the scanned surface after scanning is larger than the area of the detection region; S3.

4. Establish an image space model for the two-dimensional images continuously obtained in S3.3 according to the steps of S2, combine the established image space model with the cross-shaped image space, and combine them with each other by means of the coordinates at the same positions of the image space models obtained on the cross and by the S-shaped movement, so that the two models are combined together to form a model combination, and display it in the virtual space model; S4. In the subsequent scanning process, combine the scanned images with the already modeled models to continuously improve the shape and structure of the model; The step of combining the scanned images with the already modeled models in S4 is as follows: S4.

1. Manually move the ultrasonic probe to place the ultrasonic probe on another selected detection initial point one by one for movement, and the direction of the ultrasonic wave emitted by the ultrasonic probe faces the human organ to be detected; S4.

2. Repeat the operation of S3 at other detection initial points to obtain several model combinations; S4.

3. Compare the several model combinations to find the positions of the same images, then determine the positional relationship of each model combination according to the positions of multiple same images, compare the initial modeling points in each model combination according to the positional relationship of each model combination, determine the distance of deviation between each initial modeling point, and use the initial modeling point corresponding to the first detection point as the basic model coordinate point to adjust the coordinate positions of other initial modeling points, and the model combination adjusts the coordinates of the model combination according to the corresponding initial modeling point so that several model combinations adopt the same coordinate system; S4.

4. Record the different detection situations at the same positions in each model combination, and at the same time merge the same detection situations at other same positions.

2. The method for virtual reality three-dimensional visualization of human tissue based on ultrasound scanning location according to claim 1, characterized in that: In S1, the step of defining the initial modeling point is as follows: S1.1 Select a line on the human body as the scanning midline, and select several initial detection points on the scanning midline based on the distribution of human body structure. Determine the detection area with the initial detection point as the center according to the size of the organ to be detected. Then, manually hold the ultrasound probe and one of the initial detection points as the first detection point. The ultrasound probe is in contact with the human skin, with the middle part of the ultrasound probe as the base point. S1.2 Acquire images scanned by the ultrasonic probe and determine the image line segments acquired from the ultrasonic waves emitted from the base point of the ultrasonic probe; S1.3 Determine the center point of the image line segment and define the center point as the initial modeling point.

3. The method for virtual reality three-dimensional visualization of human tissue based on ultrasound scanning location as described in claim 2, characterized in that: The steps for establishing the image space model in S2 are as follows: S2.1 Collect images of the fan-shaped surface obtained by the ultrasound probe, and set the coordinates of each point in the image according to the initial modeling points; S2.2 After determining the coordinates, assign three-dimensional coordinates to the two-dimensional image; S2.

3. Construct a planar shape based on the given three-dimensional coordinates, resulting in a sheet-like image space model.

4. The method for virtual reality three-dimensional visualization of human tissue based on ultrasound scanning location according to claim 3, characterized in that: S2 further includes: S2.

4. Manually move the ultrasound probe in a single direction to scan the human tissue in a plane and acquire several two-dimensional images. S2.5 Perform operations S2.1-S2.3 on several two-dimensional images to obtain several sheet-like image space models with three-dimensional coordinates, and combine the several sheet-like image space models according to the three-dimensional coordinates to form a three-dimensional image space model.

5. The method for virtual reality three-dimensional visualization of human tissue based on ultrasound scanning location according to claim 3, characterized in that: The steps for multi-dimensional display of the established spatial model in S2 are as follows: S2.

6. Obtain the content of the real space through AR glasses, establish a virtual space model, and manually select the model projection point in the virtual space model; S2.7 Match the initial modeling points and model projection points in the established image space model, and display the established image space model in the virtual space model; S2.

8. The position of the fixed image space model in the virtual space model is used to move the viewpoint manually by moving the position of the AR glasses.

6. The method for virtual reality three-dimensional visualization of human tissue based on ultrasound scanning location according to claim 1, characterized in that: In step S3.4, the step of combining the coordinates of the same position in the image space model obtained by the cross-shaped and S-shaped movements is as follows: ① Compare the image space model obtained by S-shaped movement with the image space model obtained by cross-shaped movement to obtain the position of the same image, and determine the three-dimensional coordinates corresponding to each same image based on the position of the same image; ② Based on the same three-dimensional coordinates in the two image spatial models, derive the three-dimensional coordinates of other points in the image spatial model obtained by S-shaped movement to obtain the complete spatial model of the image spatial model obtained by S-shaped movement; ③ When comparing two image space models, there may be cases where the image space models are different. In this case, both image space models with the same three-dimensional coordinates should be recorded and saved.

7. The method for virtual reality three-dimensional visualization of human tissue based on ultrasound scanning location according to claim 1, characterized in that: In S4.4, when encountering different detection situations at other locations, the following processing is performed: ① There is a discrepancy between the S-shaped movement and the image space model obtained by the cross-shaped movement in each model combination, but this discrepancy can be verified by other model combinations, so the model combination shows the situation that occurs most frequently; ② If each model assembly contains images of the same location but different states, then the location should be labeled with an issue label and a folded display package should be formed.

Images