The embodiment of the invention discloses a three-dimensional
ultrasonic imaging method and device, computing equipment and a computer storage medium. The method comprises the following steps: acquiring two-dimensional ultrasonic echo
point data and constructing a three-dimensional
voxel grid; performing position classification based on the two-dimensional ultrasonic echo
point data to obtain at least one position category, and calculating a principal component vector of each position category; determining a principal component vector of each
voxel according to the position category to which each
voxel belongs; obtaining a candidate echo point of each voxel; for any voxel, identifying effective echo points from the candidate echo points of the voxel through XY plane projection constraint
verification and principal component vector constraint
verification according to the principal component vector of the voxel; and for any voxel, calculating a
voxel intensity value of the voxel according to the intensity value of the effective echo point of the voxel. By adopting the scheme, the edge imaging precision can be improved, the overall
imaging quality can be improved, the calculation amount can be reduced, and the three-dimensional imaging efficiency can be improved.