3-D shape reconstruction is essential in the navigation of minimally invasive and auto robot-guided surgeries whose operating environments are indirect and narrow, and there have been some works that focused on reconstructing the 3-D shape of the surgical organ through limited 2-D information available. However, the lack and incompleteness of such information caused by intraoperative emergencies (such as bleeding) and risk control conditions have not been considered. In this article, a novel hierarchical shape-perception network (HSPN) is proposed to reconstruct the 3-D point clouds (PCs) of specific brains from one single incomplete image with low latency. A branching predictor and several hierarchical attention pipelines are constructed to generate PCs that accurately describe the incomplete images and then complete these PCs with high quality. Meanwhile, attention gate blocks (AGBs) are designed to efficiently aggregate geometric local features of incomplete PCs transmitted by hierarchical attention pipelines and internal features of reconstructing PCs. With the proposed HSPN, 3-D shape perception and completion can be achieved spontaneously. Comprehensive results measured by Chamfer distance (CD) and PC-to-PC error demonstrate that the performance of the proposed HSPN outperforms other competitive methods in terms of qualitative displays, quantitative experiment, and classification evaluation.