Curved shape estimation system, tubular insert system, and method for estimating curved shape of curved member
A technology of bending parts and estimation parts, applied in the field of bending shape estimation systems, can solve the problems that doctors or operators cannot directly confirm the state of equipment with eyes, loads applied to internal organs, and the relationship between configurations is unclear, etc.
Active Publication Date: 2016-11-16
OLYMPUS CORP
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Problems solved by technology
[0003] If the tip of the insertion part of a device inserted into a body cavity such as an endoscope enters the body, the doctor or operator cannot directly check the status of the device with eyes
Therefore, the relationship between the observation site seen by the endoscope, the top, bottom, left, and right sides of the image, and the arrangement of internal organs, etc. becomes unclear, and the operator may mistake the insertion direction or the bending direction.
In addition, when the operator performs an operation different from the target, the operator may unknowingly apply a load to the internal organs.
Method used
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[0037] Hereinafter, one embodiment for carrying out the present invention will be described with reference to the drawings.
[0038] In addition, the following description takes a medical endoscope as an example, but the present invention can be applied generally as long as it is an insertion system that performs insertion and treatment by operating an insertion portion. For example, in addition to medical endoscopes (upper gastrointestinal endoscopes, colon endoscopes, ultrasonic endoscopes, cystoscopes, pyeloscopes, bronchoscopes, etc.), it can also be applied to catheters and manipulators , Industrial endoscopes, etc.
[0039] Such as figure 1 As shown, an endoscope system 10 as a tubular insertion system according to an embodiment of the present invention includes an endoscope 12 , an image processing device (video processor) 14 , and a display unit (monitor) 16 . The endoscope 12 images an object to be observed. The image processing device 14 performs image processing ...
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When a predetermined region of an insert part (26) that is a curved member is divided into multiple segments which are adjacent sequentially in the length direction and serve as estimation units used for the estimation of the curved shape of the curved member and having at least information on the length, curvature, shape and direction of the curved member, a shape estimation unit (24) estimates the shape of each of the segments utilizing segment information composed of at least one piece of curvature information for each of the segments, thereby estimating the curved shape in the predetermined region of the curved member by joining end parts of any adjacent two of the segments to each other in such a manner that the tangential directions of the end parts can agree with each other and the directions about the tangential directions can also agree with each other in the shapes of the adjacent two of the segments.
Description
technical field [0001] The present invention relates to a curved shape estimation system for estimating a curved shape in a predetermined range of a curved member, and a curved shape estimation method for a curved member. [0002] Furthermore, the present invention relates to a tubular insertion system for insertion into a tube space for observation or for repair, treatment, extraction, etc. represented by a flexible scope and a catheter to which the above-mentioned curved shape estimation system is applied. Specifically, the present invention relates to medical endoscopes (upper alimentary canal endoscopes, colon endoscopes, ultrasonic endoscopes, etc.), industrial endoscopes, some rigid endoscopes with a bending mechanism, manipulators (robot arms), A tubular insertion system capable of changing the shape of at least a part of the lengthwise direction of a catheter or the like. Background technique [0003] For devices inserted into body cavities such as endoscopes, if th...
Claims
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IPC IPC(8): A61B1/00G02B23/24
CPCG02B23/26A61B34/20A61B1/00004A61B1/0051A61B1/0669A61B1/07A61B2034/2061A61B1/04A61B1/009A61B1/00009A61B1/044A61B1/00045A61B1/0052A61B1/0057A61B1/0661G01B11/24G02B23/2484
Inventor 羽根润
Owner OLYMPUS CORP