Intracardiac ultrasonic imaging system with real-time three-dimensional reconstruction function and imaging method

The invention discloses an intracardiac ultrasonic imaging system with a real-time three-dimensional reconstruction function and an imaging method. The system is provided with a novel ultrasonic data acquisition element, and the positioning sensor and the ultrasonic array are coupled through a flexible circuit and the like, so that the number of wires in the catheter is reduced, and the diameter of the catheter is favorably reduced. The imaging method of the system comprises the following steps: acquiring a group of two-dimensional heart slice images with positioning information; selecting any two-dimensional heart slice image, determining the positioning information of the selected two-dimensional heart slice image as a coordinate origin, and correcting the remaining two-dimensional heart slice images; automatically identifying the ROI region or manually selecting the ROI region by adopting an identification model; and according to the positioning information, calculating a voxel value in the three-dimension