Medical image region-of-interest rendering method and device based on endoscopic imaging equipment

The invention discloses a medical image region-of-interest rendering method and device based on endoscopic imaging equipment, and the method comprises the steps: obtaining a three-dimensional optical scanning image based on three-dimensional optical scanning imaging equipment; obtaining a three-dimensional ultrasonic image based on a three-dimensional ultrasonic imaging device; performing corresponding region-of-interest extraction processing on the three-dimensional optical scanning image and the three-dimensional ultrasonic image in sequence to obtain a first region-of-interest of the three-dimensional optical scanning image and a second region-of-interest of the three-dimensional ultrasonic image; performing image fusion processing on the first region of interest of the three-dimensional optical scanning image and the second region of interest of the three-dimensional ultrasonic image to obtain a fused three-dimensional image; and performing coordinate system conversion processing on the fused three-dimens