We introduce a geometric representation of hypergraphs by representing hyperedges as simplices. Building on this framework, we employ homotopy groups to analyze the topological structure of hypergraphs embedded in high-dimensional Euclidean spaces. Leveraging this foundation, we extend Wagner's theorem to $\mathbb{R}^d$. Specifically, we establish that a triangulated $d$-uniform topological hypergraph embeds into $\mathbb{R}^d$ if and only if it contains neither $K_{d+3}^d$ nor $K_{3,d+1}^d$ as a minor. Here, a triangulated $d$-uniform topological hypergraph constitutes a geometrized form of a $d$-uniform hypergraph, while $K_{d+3}^d$ and $K_{3,d+1}^d$ are the high-dimensional generalizations of the complete graph $K_5$ and the complete bipartite graph $K_{3,3}$ in $\mathbb{R}^d$, respectively.