JP2003102677A - Flexible endoscope apparatus - Google Patents

Flexible endoscope apparatus

Info

Publication number
JP2003102677A
JP2003102677A JP2001299818A JP2001299818A JP2003102677A JP 2003102677 A JP2003102677 A JP 2003102677A JP 2001299818 A JP2001299818 A JP 2001299818A JP 2001299818 A JP2001299818 A JP 2001299818A JP 2003102677 A JP2003102677 A JP 2003102677A
Authority
JP
Japan
Prior art keywords
insertion
bending
flexible
bend
inserted
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2001299818A
Other languages
Japanese (ja)
Inventor
Kenichi Ohara
Kazutaka Sumiyama
Naoki Suzuki
Tetsuya Tarumoto
健一 大原
哲也 樽本
和毅 炭山
直樹 鈴木
Original Assignee
Jikei Univ
Pentax Corp
ペンタックス株式会社
学校法人慈恵大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jikei Univ, Pentax Corp, ペンタックス株式会社, 学校法人慈恵大学 filed Critical Jikei Univ
Priority to JP2001299818A priority Critical patent/JP2003102677A/en
Priority claimed from US10/150,927 external-priority patent/US6846286B2/en
Publication of JP2003102677A publication Critical patent/JP2003102677A/en
Application status is Pending legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002Operational features of endoscopes
    • A61B1/00043Operational features of endoscopes provided with signal output arrangements
    • A61B1/00045Display arrangement
    • A61B1/0005Display arrangement for multiple images

Abstract

(57) [Summary] [PROBLEMS] To be able to continuously detect and display the bending state of an insertion part inserted into a body and its change without radiation exposure, and to avoid unnecessary wear and damage of the device. To provide a flexible endoscope device capable of performing the above-mentioned steps. A plurality of flexible bend detecting optical fibers, each having a bend detecting unit configured to change a light transmission amount in accordance with a bent angle, sequentially move the positions of the respective bend detecting units. A flexible bending sensor 20 that is displaced and a bending sensor 20 that is inserted into and inserted into the insertion portion 1 so that the bending sensor 20 can be inserted and removed from the base end side of the insertion portion 1 to the vicinity of the distal end of the insertion portion 1 and the distal end is closed. A curved bending sensor insertion channel 10 was provided.

Description

Description: BACKGROUND OF THE INVENTION [0001] 1. Field of the Invention [0002] The present invention relates to a flexible endoscope for observing the inside of the GI and the like. 2. Description of the Related Art A flexible endoscope device to be inserted into the gastrointestinal tract or the like has a flexible insertion portion that bends freely along the inner wall of the stomach and the like, and the bent state of the insertion portion. Is difficult to grasp from outside the body. [0003] Therefore, it may be difficult to determine what kind of insertion state the insertion section is in the gastrointestinal tract, or it may be impossible to determine how to perform the next insertion / removal operation. [0004] Therefore, the bending state of the insertion portion can be seen through X-ray fluoroscopy. However, X-ray irradiation must be performed not only in a special room surrounded by a thick lead wall or the like, but also continuously. Such fluoroscopy has the problem of radiation exposure and can have a very bad effect on the human body. Therefore, a magnetic field generating member is attached to the distal end of the insertion portion of the endoscope, and the position of the magnetic field generating member is detected by a magnetic sensor arranged outside the human body, and the position of the distal end of the insertion portion inside the body is determined. There is one that is displayed on a monitor screen (Japanese Patent No. 2959723). However, in the device for detecting the position of the magnetic field generating member attached to the distal end of the insertion portion as described above, the insertion portion is flexible only by knowing the position of the distal end of the insertion portion. Not only is the bending state of the tube unknown, but such devices are also susceptible to extraneous noise, and in many cases the position detection cannot be continued in good condition. Further, even in the case where the position detection is not necessary, the member for position detection is always inserted into the body and used and consumed. Accordingly, the present invention is capable of continuously detecting and displaying the bending state of the insertion portion inserted into the body and its change without radiation exposure, and avoiding unnecessary wear and tear of the device. It is an object of the present invention to provide a flexible endoscope device capable of performing the above-mentioned steps. [0008] In order to achieve the above object, a flexible endoscope apparatus according to the present invention is formed by bending a flexible endoscope apparatus having a flexible insertion portion. A plurality of flexible bend detection optical fibers each having a bend detection unit that changes the amount of transmitted light in accordance with the size of the angle, and a flexible bend in which the positions of the bend detection units are sequentially shifted. A sensor and a bending sensor insertion channel, which is inserted into the insertion portion and whose front end is closed so that the bending sensor can be inserted and removed from the base end side of the insertion portion to the vicinity of the front end of the insertion portion, are provided. Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows the entire configuration of the flexible endoscope apparatus, in which a lower end of an operation section 2 is connected to a base end of an insertion section flexible tube 1. The bending portion 1a is bent in an arbitrary direction by rotating the operation knob 3 disposed on the operation portion 2. A distal end main body 4 in which an observation window and the like are arranged is connected to the distal end of the curved portion 1a, and an endoscope imaged by a solid-state image pickup device (not shown) built in the distal end main body 4 is provided. A video signal of a mirror observation image is sent to an external video processor 7 via a video signal line 6 extending from the operation unit 2, and an endoscopic observation image is displayed on an observation image monitor 8. A flexible bending sensor insertion channel 10 is inserted through almost the entire length of the insertion portion flexible tube 1, and a base end opening 10 a is provided near the lower end of the operation portion 2. The distal end of the bending sensor insertion channel 10 is sealed and fixed to the rear end of the distal end body 4. Therefore, no waste liquid or the like enters the bending sensor insertion channel 10 from the outside. Reference numeral 20 denotes a flexible synthetic resin band member (bend sensor) to which a plurality of bend detection optical fibers 21 are attached. The band member 20 can be inserted into and removed from the base sensor opening channel 10 through the base opening 10a. The base end is connected to the optical signal input / output device 30. The signal output line of the optical signal input / output device 30 is connected to the computer 40, and the computer 4
To 0, an insertion state display monitor 41 for displaying an image using a cathode ray tube or a liquid crystal is connected. FIG. 2 shows a tip portion of the insertion portion.
An observation window 11, an illumination window 12, a treatment tool outlet 13, and the like are disposed on the distal end surface of the distal end main body 4, and a subject illuminated by illumination light emitted from the illumination window 12 is disposed in the observation window 11. An image is formed on the imaging surface of the solid-state imaging device by an objective optical system (not shown). FIG. 2 and FIG. 3 showing a section taken along the line III-III.
The belt-like member 2 in the bending sensor insertion channel 10
0 is shown, and the bending sensor insertion channel 10 is formed in a flat tubular shape over the entire length in accordance with the band-shaped member 20 having a flat cross-sectional shape. The bending sensor insertion channel 10
Are arranged in a direction parallel to the axis of the insertion section flexible tube 1 with the uneven plane facing the “upward direction” of the insertion section flexible tube 1 (that is, the extension direction of the front surface of the operation section 2 shown in FIG. 1). ing. Reference numerals 101, 102, and 103 shown in FIG. 3 denote an image signal transmission cable, a light guide for illumination, and a treatment tool insertion channel. As shown in FIG. 2, the plurality of bend detecting optical fibers 21 attached to the belt-shaped member 20 are sequentially changed in position and bent back in a smooth U-shape. A bend detecting section 22 is formed near the bend return section of each bend detecting optical fiber 21. The bend detectors 22 are arranged, for example, at intervals of about several centimeters in the longitudinal direction of the bend sensor insertion channel 10, for example, about 5 to 30 pieces so as to extend over the entire length of the flexible tube 1 for insertion. . The bend detecting section 22 is a bend detecting optical fiber 2 having a plastic core covered with a clad.
A light absorbing portion is formed only in a predetermined direction (for example, upward or downward) in the middle part of 1, and the light transmission amount changes according to the degree to which the bend detecting unit 22 is bent. Therefore, by detecting this, it is possible to detect the bending angle of the portion where the bending detecting unit 22 is disposed. The principle is described in US Pat. No. 56,334.
As described in No. 94, etc., it will be briefly described below. In FIG. 4, reference numerals 21a and 21b denote a core and a clad of one bend detecting optical fiber 21, and the bend detecting unit 22 absorbs the light passing through the core 21a without totally reflecting the light into the core 21a. The light absorbing portion 22a that is formed is formed in a portion of the clad 21b in a specific direction (here, “downward”). Then, as shown in FIG. 5, when the bending detecting optical fiber 21 is bent upward, the core 2 is bent.
Since the amount (area) of light falling on the light absorbing portion 22a among the light passing through the inside 1a increases, the bending detection optical fiber 21
Of the light is reduced. Conversely, as shown in FIG. 6, when the bend detecting optical fiber 21 is bent downward, the core 21 is bent.
Since the amount (area) of light that falls on the light absorbing portion 22a among the light passing through the inside a decreases, the amount of light transmitted by the bend detection optical fiber 21 increases. Since the amount of bending of the optical fiber 21 for bending detection in the light absorbing portion 22a and the amount of light transmission have a fixed relationship (for example, a linear function relationship), the amount of light transmission of the optical fiber 21 for bending detection is reduced. By detecting, the bending detecting unit 22 in which the light absorbing unit 22a is formed
The bending direction and the bending angle can be detected on the basis of the state where the part is not bent. Therefore, when a plurality of bend detectors 22 are arranged at intervals in the axial direction of the flexible tube 1 of the insertion portion, the interval between the bend detectors 22 and the detected bend detectors are determined. From the bending angle of 22, the vertical bending state of the entire insertion portion flexible tube 1 can be detected. Then, as schematically shown in FIG. 7, a second bend detecting unit 22 'is further arranged in parallel with the above-described bend detecting unit 22, so that the two bend detecting units 22, Comparing the light transmission amounts of 22 ', when there is no twist in the left and right direction, there is no difference between the two light transmission amounts, and the difference between the two light transmission amounts increases according to the twist amount in the left and right direction. Alternatively, the above-mentioned second bending detecting section 2
The 2 ′ light absorbing portion (22a) may be arranged in a direction opposite to the bending direction of the light absorbing portion (22a) of the bending detecting portion 22. In this case, comparing the light transmission amounts of the two bend detectors 22 and 22 'arranged side by side, if there is no twist in the left-right direction, the difference that changes from the reference value of both light transmission amounts is almost the same. The directions of the increase and decrease of the light transmission amount are reversed, and the directions of the increase and decrease of both the light transmission amounts are changed in accordance with the twist in the left and right direction so as to be the same direction. Therefore, each of the bend detecting units 22, 22 '
By measuring the amount of light transmission of the optical fiber and comparing the measured values, it is possible to detect the amount of twist in the left-right direction of the portion where the bend detecting units 22 and 22 'are arranged. This principle is as described in US Pat. No. 6,127,672 and the like. Accordingly, a plurality of bend detecting portions 22 are arranged at predetermined intervals in the axial direction of the insertion portion flexible tube 1, and a second plurality of bend detecting portions 22 'are arranged in parallel with the plurality of bend detecting portions 22'. The three-dimensional bending state of the entire flexible tube 1 can be detected by detecting and comparing the light transmission amounts of the detection units 22 and 22 ′. Therefore, in the flexible endoscope apparatus of the present embodiment, as shown in FIG. 8, a plurality of bends are provided so that the bend detecting portions 22 are located at regular intervals in the longitudinal direction of the belt-shaped member 20. The detection optical fiber 21 is attached to the front side of the band-shaped member 20, and the band-shaped member is arranged such that the second bend detection unit 22 ′ is arranged beside each bend detection unit 22 on the front side as shown in a cross section in FIG. A second plurality of bend detecting optical fibers 21 ′ are attached to the back surface side of 20. Further, at least one simple reference optical fiber 21R having no light absorbing portion 22a is arranged, and the light transmission amount of each bending detection optical fiber 21 is compared with the light transmission amount of the reference optical fiber 21R. The optical fiber 2 for bending detection
The influence of temperature, deterioration with time, etc. on the amount of light transmission can be eliminated. FIG. 9 shows an optical signal input / output device 30, in which light emitted from one light emitting diode 31 is incident on all the optical fibers 21, 21 ', 21R. 32
Is a drive circuit for the light emitting diode 31. Then, each of the optical fibers 21, 21 ', 2
A photodiode 33 that converts a light intensity level into a voltage level and outputs the voltage level is disposed at each exit end of the 1R.
The output from each photodiode 33 is amplified by an amplifier 34, converted into a digital signal by an analog / digital converter 35, and sent to a computer 40. When the insertion tube 1 of the flexible endoscope apparatus thus constructed is inserted into the body, as shown in FIG. 10, the insertion portion guide member 50 is inserted into the body. Attached to the entrance (eg, mouth or anus), the flexible insertion tube 1 is passed through the insertion guide member 50. Therefore, the insertion portion guide member 50 is provided with an encoder 60 or the like for detecting the insertion length L of the insertion portion flexible tube 1 (ie, the length of passage through the insertion portion guide member 50). Output signal of computer 4
0. FIG. 11 shows such an insertion portion guide member 50.
A plurality of rotatable spherical members 51 urged by a compression coil spring 52 are arranged so as to sandwich the flexible tube 1 from the periphery. Accordingly, each of the spherical members 51 rotates in proportion to the insertion length L of the flexible tube 1 in the insertion portion, and one of the spherical members 51 is proportional to the insertion length L of the flexible tube 1 in the insertion portion. An encoder 60 that outputs a number of pulses is connected. However, the detection of the insertion length L of the insertion section flexible tube 1 in the insertion section guide member 50 is described in, for example, JP-A-56-9.
As described in US Pat. No. 7,429 or JP-A-60-217326, light reflection from the surface of the flexible tube 1 may be used, or other means may be used. In this manner, as shown in FIG. 10, the bending state detection signal and the insertion length detection signal of the insertion section flexible tube 1 are input to the computer 40 from the optical signal input / output device 30 and the encoder 60. Image 5 of insertion part guide member 50
0 ′ and an image 1 ′ indicating the bending state of the insertion section flexible tube 1 are displayed on the insertion state display monitor 41. At this time, the image 5 of the insertion portion guide member 50
The display position of 0 'is fixed on the insertion state display monitor 41, and the image 1' showing the bending state of the insertion portion flexible tube 1 in the portion inserted in front of it is displayed as a change in the insertion portion flexible tube 1. , The state of the insertion portion flexible tube 1 in the body can be easily grasped. FIG. 12 is a flowchart showing the outline of the contents of the software of the computer 40 for displaying such an image on the insertion state display monitor 41, and S in the figure indicates a step. In order to display the accurate bent state on the insertion state display monitor 41, first, before inserting the flexible tube 1 of the insertion section into the body, the flexible tube 1 of the endoscope actually used is used. It is preferable to perform a calibration for comparing the bending angle of the optical fiber with the detection signal obtained from the bending detection optical fiber 21 (S1). When the insertion section flexible tube 1 is inserted into the body, a detection signal of the insertion length L of the insertion section 1 is input from the encoder 60 (S2), and the insertion section guide member 50 causes the insertion section flexible tube 1 to be inserted. Is calculated (S3). Next, each bend detecting optical fiber 21
Detection signal V 1 ... by entering from (S4), and converts the detection signal V 1 ... the skew angle based on the calibration data (S5), the bending angle of the bending detection section 22 portion, three-dimensional Each bend detection unit 22 on coordinates
Is calculated (S6). Then, the position of the image 50 'of the insertion portion guide member 50 is not moved on the insertion state display monitor 41, and the positions of the respective bending detecting portions 22 are smoothly connected to be displayed. The bent state of the tube 1 is displayed (S7), the process returns to S2, and S2 to S7 are repeated. When such a display is performed, the display on the insertion state display monitor 41 is a two-dimensional image, but since three-dimensional data on the position of each bend detecting unit 22 has been obtained, “upward” In addition, it is possible to display the bending state of the insertion portion flexible tube 1 in an arbitrary rotation direction. In the flexible endoscope apparatus configured as described above, as shown in FIG. 1, the band-shaped member 20 is bendable and can be inserted into and removed from the sensor insertion channel 10.
In cases where the insertion shape of the insertion portion flexible tube 1 does not need to be displayed, the belt-shaped member 20 is bent out of the sensor insertion channel 10 so that unnecessary consumption of the bending detection optical fiber 21 for detecting the insertion shape is unnecessary. And damage can be avoided. The present invention is not limited to the above embodiment. For example, as shown in FIG. 13, the bending sensor insertion channel 10 can be extended into the connecting flexible tube 18 extending from the operation section 2. The connector 1 is attached to the distal end of the connecting flexible tube 18 so as to be extended and inserted.
0a may be arranged. The band-shaped member 20 may be formed in a spiral tube or the like. In this case, the cross-sectional shape of the bending sensor insertion channel 10 may be circular. According to the present invention, a plurality of flexible bend detecting optical fibers provided with a bend detecting portion in which the amount of transmitted light changes in accordance with the angle of the bent angle are provided. By passing the bending sensor, which is arranged by sequentially shifting the position of the detection unit, through the bending sensor insertion channel, the bending state of the insertion unit inserted into the body and its change,
In cases where it is possible to continuously detect and display the insertion shape without exposure to radiation, and in cases where it is not necessary to display the insertion shape, the bending sensor is pulled out from the bending sensor insertion channel, so that the device for detecting the insertion shape can be used. Unnecessary wear and tear can be avoided.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view of the entire configuration (excluding an insertion portion guide member) of a flexible endoscope device according to an embodiment of the present invention. FIG. 2 is a perspective view of a distal end portion of an insertion section of the flexible endoscope device according to the embodiment of the present invention. 3 is a cross-sectional view (a cross-sectional view taken along the line III-III in FIG. 2) of a cross section perpendicular to the axis of the flexible tube of the insertion portion according to the embodiment of the present invention. FIG. 4 is a schematic cross-sectional view of a bend detection unit of a bend detection optical fiber used in an embodiment of the present invention. FIG. 5 is a schematic cross-sectional view showing a state where a bend detection unit of a bend detection optical fiber used in an embodiment of the present invention is bent. FIG. 6 is a schematic cross-sectional view showing a state in which a bend detecting unit of a bend detecting optical fiber used in an embodiment of the present invention is bent in a reverse direction. FIG. 7 is a schematic diagram for explaining the principle of three-dimensional bending state detection using a bending detection optical fiber used in an embodiment of the present invention. FIG. 8 is a plan view of a belt-like member to which the optical fiber for bending detection according to the embodiment of the present invention is attached. FIG. 9 is a circuit diagram of an optical signal input / output device according to an embodiment of the present invention. FIG. 10 is a schematic diagram showing an overall configuration of a flexible endoscope apparatus according to an embodiment of the present invention in a use state. FIG. 11 is a front sectional view of an insertion portion guide member according to the embodiment of the present invention. FIG. 12 is a flowchart schematically showing software contents of a computer according to the embodiment of the present invention. FIG. 13 is a schematic diagram of the entire configuration (excluding an insertion portion guide member) of a flexible endoscope device according to a second embodiment of the present invention. DESCRIPTION OF SYMBOLS 1 Insertion part flexible tube 1 ′ Image 10 of bent state of insertion part flexible tube 10 Bend sensor insertion channel 10 a Base end opening 20 Band member (bend sensor) 21, 21 ′ Bend detection optical fibers 22, 22 'Bend detector 30 Optical signal input / output device 40 Computer 41 Insertion state display monitor 50 Insertion guide member 50' Image of insertion guide member 60 Encoder

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Kazuki Sumiyama             School Law, 3-25-8 Nishishinbashi, Minato-ku, Tokyo             Hito Jikei University (72) Inventor Tetsuya Tarumoto             Asahi Hikari 2-36-9 Maenocho, Itabashi-ku, Tokyo             Gaku Kogyo Co., Ltd. (72) Inventor Kenichi Ohara             Asahi Hikari 2-36-9 Maenocho, Itabashi-ku, Tokyo             Gaku Kogyo Co., Ltd. F term (reference) 2H040 BA21 BA23 DA03 DA11 DA18                       GA02                 4C061 AA01 BB02 CC06 DD03 FF43                       FF46 FF50 HH51 JJ17

Claims (1)

  1. Claims: 1. A flexible endoscope device having a flexible insertion portion, wherein a bending detection portion is formed in which a light transmission amount changes in accordance with a bent angle. A plurality of flexible bend detection optical fibers, a flexible bend sensor in which the positions of the respective bend detection units are sequentially shifted, and a tip of the insertion unit from the base end side of the insertion unit to the bending sensor. A flexible endoscope device, comprising: a bending sensor insertion channel which is inserted into the insertion portion so as to be able to be inserted to and removed from the vicinity, and whose tip is closed.
JP2001299818A 2001-09-28 2001-09-28 Flexible endoscope apparatus Pending JP2003102677A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2001299818A JP2003102677A (en) 2001-09-28 2001-09-28 Flexible endoscope apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001299818A JP2003102677A (en) 2001-09-28 2001-09-28 Flexible endoscope apparatus
US10/150,927 US6846286B2 (en) 2001-05-22 2002-05-21 Endoscope system

Publications (1)

Publication Number Publication Date
JP2003102677A true JP2003102677A (en) 2003-04-08

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2001299818A Pending JP2003102677A (en) 2001-09-28 2001-09-28 Flexible endoscope apparatus

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004337463A (en) * 2003-05-16 2004-12-02 Olympus Corp Device and method for virtual image display
WO2005102245A1 (en) * 2004-04-21 2005-11-03 Olympus Corporation Medical bed
JP2006198323A (en) * 2005-01-24 2006-08-03 Pentax Corp Electronic endoscope system
JP2007044405A (en) * 2005-08-12 2007-02-22 Pentax Corp Endoscope insertion shape detecting probe
US7212694B2 (en) * 2004-12-27 2007-05-01 Chow-Shing Shin Fiber-optic sensing system for measuring curvature
JP2007130144A (en) * 2005-11-09 2007-05-31 Pentax Corp Endoscope insertion part shape recognition system
WO2013083824A1 (en) * 2011-12-08 2013-06-13 Haemoband Surgical Limited Intracorporeal locator probe
WO2017009906A1 (en) * 2015-07-10 2017-01-19 オリンパス株式会社 Shape-detecting insertion device

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004337463A (en) * 2003-05-16 2004-12-02 Olympus Corp Device and method for virtual image display
JP4546043B2 (en) * 2003-05-16 2010-09-15 オリンパス株式会社 Virtual image display device
WO2005102245A1 (en) * 2004-04-21 2005-11-03 Olympus Corporation Medical bed
US7212694B2 (en) * 2004-12-27 2007-05-01 Chow-Shing Shin Fiber-optic sensing system for measuring curvature
JP2006198323A (en) * 2005-01-24 2006-08-03 Pentax Corp Electronic endoscope system
JP2007044405A (en) * 2005-08-12 2007-02-22 Pentax Corp Endoscope insertion shape detecting probe
JP2007130144A (en) * 2005-11-09 2007-05-31 Pentax Corp Endoscope insertion part shape recognition system
JP4708962B2 (en) * 2005-11-09 2011-06-22 Hoya株式会社 Endoscope insertion part shape grasping system
WO2013083824A1 (en) * 2011-12-08 2013-06-13 Haemoband Surgical Limited Intracorporeal locator probe
GB2497518A (en) * 2011-12-08 2013-06-19 Haemoband Surgical Ltd Elongate probe with at least one bend sensor
WO2017009906A1 (en) * 2015-07-10 2017-01-19 オリンパス株式会社 Shape-detecting insertion device
JPWO2017009906A1 (en) * 2015-07-10 2018-04-19 オリンパス株式会社 Shape detection device

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